This paper presents an uncomplicated dynamic controller for generating physically-plausible three-dimensional full-body biped character rise motions on-the-fly at run-time. Our low-dimensional controller uses fundamental reference information (e.g., center-of-mass, hands, and feet locations) to produce balanced biped get-up poses by means of a real-time physically-based simulation. The key idea is to use a simple approximate model (i.e., similar to the inverted-pendulum stepping model) to create continuous reference trajectories that can be seamlessly tracked by an articulated biped character to create balanced rise-motions. Our approach does not use any key-framed data or any computationally expensive processing (e.g., offline-optimization or search algorithms). We demonstrate the effectiveness and ease of our technique through example (i.e., a biped character picking itself up from different laying positions).

翻译：本文提出了一种简单的动力学控制器，用于在运行时实时生成物理可信的三维全身双足角色起身动作。我们的低维控制器利用基础参考信息（如质心、双手和双脚位置），通过实时物理仿真生成平衡的双足起身姿态。核心思路是采用一个简化的近似模型（类似于倒立摆步态模型）来构建连续参考轨迹，使得铰接式双足角色能够无缝跟踪这些轨迹，从而生成平衡的起身动作。本方法无需任何关键帧数据或计算开销高昂的处理（如离线优化或搜索算法）。通过实例（即双足角色从不同躺卧位置自行站起）验证了该技术的有效性与易用性。