LiteSeer: Physics-Based Simulation in Graphics and Robotics

Reduced Coordinates

• Robot Dynamics: Equations and Algorithms
• Adaptive Dynamics of Articulated Bodies

Constraint Force Application

• Robot Dynamics: Equations and Algorithms (same link as above)
• Linear-Time Dynamics using Lagrange Multipliers

Projection onto Constraint Manifold

• Stabilization of Constrained Mechanical Systems with DAEs and Invariant Manifolds

Optimization

• Physically Based Motion Transformation
• Learning Physics-Based Motion Style with Nonlinear Inverse Optimization
• Interactive Manipulation of Rigid Body Simulations

Control

• Motion Perturbation Based on Simple Neuromotor Control Models
• Simulating the Task-level Control of Human Motion: A Methodology and Framework for Implementation