Actuators \`A La Mode: Modal Actuations for Soft Body Locomotion
<|reference_start|>Actuators \`A La Mode: Modal Actuations for Soft Body Locomotion: Traditional character animation specializes in characters with a rigidly articulated skeleton and a bipedal/quadripedal morphology. This assumption simplifies many aspects for designing physically based animations, like locomotion, but comes with the price of excluding characters of arbitrary deformable geometries. To remedy this, our framework makes use of a spatio-temporal actuation subspace built off of the natural vibration modes of the character geometry. The resulting actuation is coupled to a reduced fast soft body simulation, allowing us to formulate a locomotion optimization problem that is tractable for a wide variety of high resolution deformable characters.<|reference_end|>
@article{benchekroun2024actuators,
    title={Actuators \`A La Mode: Modal Actuations for Soft Body Locomotion},
    author={Otman Benchekroun, Kaixiang Xie, Hsueh-Ti Derek Liu, Eitan Grinspun,
  Sheldon Andrews, Victor Zordan},
    journal={arXiv preprint arXiv:2405.18609},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.18609},
    primaryClass={cs.GR}
}