Game|Tech 2004 © www.naturalmotion.com
Dynamic Motion Control
Game|Tech 2004
Torsten Reil
NaturalMotion Ltd
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Passive Body Dynamics
Game|Tech 2004 © www.naturalmotion.com
Passive Body Dynamics
• Dimensions
• Mass Distribution
• Passive Lower Leg Swing
Game|Tech 2004 © www.naturalmotion.com
Passive Body Dynamics
Game|Tech 2004 © www.naturalmotion.com
Actuators
Game|Tech 2004 © www.naturalmotion.com
AI Controllers
Game|Tech 2004 © www.naturalmotion.com
AI Controllers
Game|Tech 2004 © www.naturalmotion.com
Controller Optimisation
• Genetic Algorithm
• Rank-based selection
• Fittest fracti...
Game|Tech 2004 © www.naturalmotion.com
Controller Optimisation
• Basic fitness function: Distance travelled from origin.
Game|Tech 2004 © www.naturalmotion.com
Result
Game|Tech 2004 © www.naturalmotion.com
Controller Optimisation
• Guided Evolution
• Create initially permissive environmen...
Game|Tech 2004 © www.naturalmotion.com
Results
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Passive Dynamics
Game|Tech 2004 © www.naturalmotion.com
AI-enabled (upper body)
Game|Tech 2004 © www.naturalmotion.com
AI-enabled (whole body)
Game|Tech 2004 © www.naturalmotion.com
Adaptive Behaviour
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Game|Tech 2004 © www.naturalmotion.com
Q&A
torsten.reil@naturalmotion.com
www.naturalmotion.com
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Natural motion

Published on: Mar 3, 2016
Source: www.slideshare.net


Transcripts - Natural motion

  • 1. Game|Tech 2004 © www.naturalmotion.com Dynamic Motion Control Game|Tech 2004 Torsten Reil NaturalMotion Ltd
  • 2. Game|Tech 2004 © www.naturalmotion.com
  • 3. Game|Tech 2004 © www.naturalmotion.com
  • 4. Game|Tech 2004 © www.naturalmotion.com
  • 5. Game|Tech 2004 © www.naturalmotion.com Passive Body Dynamics
  • 6. Game|Tech 2004 © www.naturalmotion.com Passive Body Dynamics • Dimensions • Mass Distribution • Passive Lower Leg Swing
  • 7. Game|Tech 2004 © www.naturalmotion.com Passive Body Dynamics
  • 8. Game|Tech 2004 © www.naturalmotion.com Actuators
  • 9. Game|Tech 2004 © www.naturalmotion.com AI Controllers
  • 10. Game|Tech 2004 © www.naturalmotion.com AI Controllers
  • 11. Game|Tech 2004 © www.naturalmotion.com Controller Optimisation • Genetic Algorithm • Rank-based selection • Fittest fraction: 0.5 • Parameters coded as real values • Mutation size: adjusted Gaussian Distribution • Mutation rate: approx. 1/chromosome • No crossover
  • 12. Game|Tech 2004 © www.naturalmotion.com Controller Optimisation • Basic fitness function: Distance travelled from origin.
  • 13. Game|Tech 2004 © www.naturalmotion.com Result
  • 14. Game|Tech 2004 © www.naturalmotion.com Controller Optimisation • Guided Evolution • Create initially permissive environment • Weak trunk-stabilising controller • After x generations, continue evolution without stabilising controller  Bike stabilisers
  • 15. Game|Tech 2004 © www.naturalmotion.com Results
  • 16. Game|Tech 2004 © www.naturalmotion.com
  • 17. Game|Tech 2004 © www.naturalmotion.com
  • 18. Game|Tech 2004 © www.naturalmotion.com
  • 19. Game|Tech 2004 © www.naturalmotion.com
  • 20. Game|Tech 2004 © www.naturalmotion.com
  • 21. Game|Tech 2004 © www.naturalmotion.com
  • 22. Game|Tech 2004 © www.naturalmotion.com Passive Dynamics
  • 23. Game|Tech 2004 © www.naturalmotion.com AI-enabled (upper body)
  • 24. Game|Tech 2004 © www.naturalmotion.com AI-enabled (whole body)
  • 25. Game|Tech 2004 © www.naturalmotion.com Adaptive Behaviour
  • 26. Game|Tech 2004 © www.naturalmotion.com
  • 27. Game|Tech 2004 © www.naturalmotion.com
  • 28. Game|Tech 2004 © www.naturalmotion.com
  • 29. Game|Tech 2004 © www.naturalmotion.com
  • 30. Game|Tech 2004 © www.naturalmotion.com Q&A torsten.reil@naturalmotion.com www.naturalmotion.com

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