Fluid Simulation with Articulated Bodies

Kwatra, Nipun; Wojtan, Chris; Carlson, Mark; Essa, Irfan; Mucha, Peter J.; Turk, Greg

doi:10.1109/tvcg.2009.66

Cited by 22 publications

(9 citation statements)

References 42 publications

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“…In their work on the interaction of multiphase flow (specifically water including air bubbles) with animated bodies, Mihalef et al [2008] produced a 7-second animation clip that demonstrates a human figure making swimming-like body movement while floating in simulated water. Kwatra et al [2010] and Tan et al [2011] used a simplified articulated body representation and two-way coupling between the body and a fluid simulation to model creatures locomoting in fluids. Lentine et al [2011] employed articulated skeletons with a deformable skin layer and two-way coupling to a fluid simulator to model figures moving in fluids.…”

Section: Underwater Motion Simulationmentioning

confidence: 99%

“…Yang et al [2004] developed a layered strategy for human swimming control in which each control layer is procedurally modeled and empirically tuned to create physics-based swimming motion in real time. Kwatra et al [2010] developed a swimming controller that computes the necessary joint torques to follow captured human motions that mimic swimming.…”

Section: Underwater Motion Controlmentioning

confidence: 99%

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Realistic Biomechanical Simulation and Control of Human Swimming

Lee

Sifakis

et al. 2014

ACM Trans. Graph.

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We address the challenging problem of controlling a complex biomechanical model of the human body to synthesize realistic swimming animation. Our human model includes all of the relevant articular bones and muscles, including 103 bones (163 articular degrees of freedom) plus a total of 823 muscle actuators embedded in a finite element model of the musculotendinous soft tissues of the body that produces realistic deformations. To coordinate the numerous muscle actuators in order to produce natural swimming movements, we develop a biomimetically motivated motor control system based on Central Pattern Generators (CPGs), which learns to produce activation signals that drive the numerous muscle actuators.

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Section: Underwater Motion Simulationmentioning

confidence: 99%

Section: Underwater Motion Controlmentioning

confidence: 99%

Realistic Biomechanical Simulation and Control of Human Swimming

Lee

Sifakis

et al. 2014

ACM Trans. Graph.

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“…Yang et al [2004] used an articulated body representation, a simplified fluid model, and several layers of control to model human swimmers. Kwatra et al [2009] used an articulated body representation and twoway coupling between the body and a fluid simulation to model 58:2 • J. Tan et al…”

Section: Simulated Swimmersmentioning

confidence: 99%

Articulated swimming creatures

Tan

Turk

et al. 2011

ACM SIGGRAPH 2011 Papers

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We present a general approach to creating realistic swimming behavior for a given articulated creature body. The two main components of our method are creature/fluid simulation and the optimization of the creature motion parameters. We simulate two-way coupling between the fluid and the articulated body by solving a linear system that matches acceleration at fluid/solid boundaries and that also enforces fluid incompressibility. The swimming motion of a given creature is described as a set of periodic functions, one for each joint degree of freedom. We optimize over the space of these functions in order to find a motion that causes the creature to swim straight and stay within a given energy budget. Our creatures can perform path following by first training appropriate turning maneuvers through offline optimization and then selecting between these motions to track the given path. We present results for a clownfish, an eel, a sea turtle, a manta ray and a frog, and in each case the resulting motion is a good match to the real-world animals. We also demonstrate a plausible swimming gait for a fictional creature that has no real-world counterpart.

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“…Low-cost algorithms have been developed that carry out, for example, motion capture from an animated image. Using such techniques, the realism of the visualization has been greatly advanced [8]. These techniques are not appropriate outside the amusement industry because the dynamics are largely ignored.…”

Section: Introductionmentioning

confidence: 99%

Swimmer simulation using robot manipulator dynamics under steady water

Shinohara

2010

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To help swimmers improve, we have developed a computational swimming model using underwater manipulator dynamics. We formulate the equations of the underwater manipulator dynamics using the fluid drag, which is proportional to the square of the velocity. We construct a swimming model consisting of several links based on these equations. The distance traveled by the optimal swimming motion is derived using the model. The input parameters are the joint torques. The arm and leg positions in the model are determined from the joint torques. The force transmitted from the water to the manipulator is defined to be the action force, and the force transmitted from the manipulator to the water is defined to be the reaction force. This reaction force is defined to be the propulsion force. By combining the propulsion force generated by the arms and legs and the frictional drag with respect to the body we can calculate the distance traveled. To optimize the propulsion, which depends on the swimmer's motion, a variational approach using the Lagrange function is applied. We can use the model to simulate 2D pseudo-backstroke motion. Our model has a lower cost than other techniques in the literature, because it does not require computational fluid dynamics (CFD). The swimmer velocity calculated by our model agrees quite closely with the results in the literature. The model qualitatively captures the movement of an actual swimmer.

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Fluid Simulation with Articulated Bodies

Cited by 22 publications

References 42 publications

Realistic Biomechanical Simulation and Control of Human Swimming

Realistic Biomechanical Simulation and Control of Human Swimming

Articulated swimming creatures

Swimmer simulation using robot manipulator dynamics under steady water

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