1Active DynamicsThomas FunkhouserPrinceton UniversityC0S 426, Spring 2006Passive vs. Active DynamicsHodginsActive Dynamics• Motions Physics Controllers• Behaviors Learning• Cognition PlanningFunge99Motion• Example 1: how do worms move?Grzeszczuk95Snake MotionGrzeszczuk95Worm Biomechanical ModelGrzeszczuk952Worm Physics==−−=fdtdtmXmfadtdlDILkf1/)(f = force along spring directionk = spring force constantD = damping forceI = current spring lengthL = minimum energy spring lengthMiller88… plus forces due to friction with ground.Eric the Dynamic WormMiller88Her Majesty’s Secret SerpentMiller89Fish Motion• Example 2: how do fish move?Spring-Mass Model for FishTu94Hydrodynamic Locomotionwiiiiiifwdtdxdtxdm =−+ς22Tu943SwimmingGrzeszczuk95Motor SystemBlumberg95Animating Human AthleticsHodginsAnimating Human AthleticsHodginsLearning MotionsSims94Learning Muscle ControllersGrzeszczuk954Learning to SwimGrzeszczuk95Evolved Virtual CreaturesControllersMutationsPhysics & ObjectiveSims94Evolved Virtual CreaturesSims94Multi-Level ControllersGrzeszczuk95Learning Complex MotionsGrzeszczuk95Active Dynamics• Motions Physics Controllers Behaviors Learning• Cognition PlanningFunge995BehaviorBlumberg95BehaviorBlumberg95Fish Behavior ControllerTu94Intention GeneratorTu94Go Fish!Tu94Underwater World of JCTu946Multi-Level ControlBlumberg95Active Dynamics• Motions Physics Controllers• Behaviors Learning Cognition PlanningFunge99PlanningKuffnerMotion PlanningKuffnerDuffy the MermanFunge99Summary• Motions Physics Controllers• Behaviors Learning• Cognition
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