Avatar Tracking Control with Generations of Physically Natural Responses on Contact to Reduce ...
summary
Real-time avatar controller that sums torques from a fast, collision-disabled high-gain and low-gain simulations pipeline to combine quick tracking with soft contact responses, replacing naive direct mocap playback and spring-damper PD control. Implementation uses summed torques (high-gain for tracking, low-gain for soft reaction) to avoid penetration and generate slaps, hugs and object collisions. Evaluated with 5 non-expert subjects on bumping, stroking and hitting tasks and shows fewer trials to reach required performance on average. Collision-disabled high-gain torque
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