Automatic motion synthesis for 3D mass-spring models

We describe how to synthesize, automatically, motion controllers for locomotive tasks involvinganimated characters modeled as 3D mass-spring lattices. The motion controllers determine anactuation sequence based on elapsed time, not physical state; actuation is represented economicallyusing a small, predefined set of global lattice deformations; and stochastic search is usedto determine effective values for the controller parameters. Our algorithm generates controllersthat produce...