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Computational Models of Motion

A hands-on approach to understanding the mathematical models used in animation and robotics.

About this Course

⇝Moodle
⇝Zoom Link for Lectures

This course covers fundamentals of physics-based modelling and numerical optimization from the perspective of character animation and robotics applications. The methods discussed in class derive their theoretical underpinnings from applied mathematics, control theory and computational mechanics, and they will be richly illustrated using examples ranging from locomotion controllers and crowd simulation to robotic manipulation of elastically-deforming objects.

Times

Day What Time Location
Wednesdays Class 14:15 - 16:00 Recorded
Thursdays Tutorial 16:15 - 18:00 Recorded

Content

Introduction

02/24/2021
Recording
Slides1
Slides2

Kinematic Modeling

03/03/2021
Recording
Slides

Unconstrained optimization and Inverse Kinematics

03/10/2021
Recording
Slides
NumericalOptimizationReview
IKNotes

Dynamics

03/17/2021
Recording
Slides

Computational Elasticity

03/24/2021
Recording
Slides

Constrained Optimization and Sensitivity Analysis

03/31/2021
Recording
Recording2
Slides
MatlabExample

3D Orientations and Rigid Body Dynamics

04/14/2021
Recording
Slides
ImpulseBasedCollisions

Articulated Rigid Body Dynamics

04/21/2021
Recording
Slides
MaximalCoordinatesFormulations

Contact Modeling

04/28/2021
Recording
Slides

Trajectory Optimization

05/05/2021
Recording (1)
Recording (2)
Slides

Feedback Control

05/12/2021
Recording
Slides

Deep Reinforcement Learning

05/19/2021
Recording
Slides

Q&A

05/26/2021
Recording
Questions you should have answers to

Assignments

The accompanying programming assignments are meant to deepen the concepts covered in class. For each programming sheet, we will provide a C++ code framework with basic functionality already in place. This allows you to get straight to the point and implement only the technically interesting and relevant parts.

Getting ready ...

Hand out: 03/04/21
Hand in: 03/10/21
An (ungraded) assignment that sets up the code base and makes sure everything compiles and runs on your machine. Also, you will get familiar with how to submit assignments.
github classroom invitation
github issues
Tutorial slides
Tutorial recording - starts at around 16:30

Unconstrained optimization and IK

Hand out: 03/11/21
Hand in: Mar 19, 2021, 18:00 CEST

github classroom invitation
github issues
Tutorial slides
Tutorial recording - starts at around 09:00

Kinematic walking controller

Hand out: 03/18/21
Hand in: 04/02/21, 18:00 CEST

github classroom invitation
github issues
Tutorial slides
Tutorial recording - starts at around 13:00:
zoom stream Tutorial Recording 03/18
Tutorial Recording 03/25 - FEM
Tutorial Recording 03/25 - Assignment
Tutorial 03/25 slides

Boids

Hand out: 04/01/21
Hand in: 04/16/21, 18:00 CEST

zoom stream
github classroom invitation
github issues
Assignment Writeup

Soft body simulation and control

Hand out: 04/15/21
Hand in: 04/30/21, 18:00 CEST

github classroom invitation
github issues
Assignment Writeup
Tutorial Recording
Tutorial Slides
Additional Reading

Rigid body dynamics

Hand out: 04/29/21
Hand in: 05/14/21, 18:00 CEST
github classroom invitation
github issues
Tutorial Recording 04/29
Tutorial Slides 04/29
Tutorial Recording 05/06
Tutorial Slides 05/06

Trajectory Optimization

Hand out: 05/14/21
Hand in: 05/28/21, 18:00 CEST

Github Classroom Repo
Issues
Assignment Writeup
Recording
Slides
Related Paper (Video)
Additional Trajectory Optimization Reading


Evaluation

The evaluation is based on the exam (50%) and assignments (50%).
Exam: The exam will take place online via Moodle at 14:15, CEST, June 2th.
Assignments: Assignments need to be handed in no later than the deadline and will be graded.