research-article

Animating human dressing

Authors:

Alexander Clegg,

C. Karen LiuAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 34, Issue 4

Article No.: 116, Pages 1 - 9

https://doi.org/10.1145/2766986

Published: 27 July 2015 Publication History

Abstract

Dressing is one of the most common activities in human society. Perfecting the skill of dressing can take an average child three to four years of daily practice. The challenge is primarily due to the combined difficulty of coordinating different body parts and manipulating soft and deformable objects (clothes). We present a technique to synthesize human dressing by controlling a human character to put on an article of simulated clothing. We identify a set of primitive actions which account for the vast majority of motions observed in human dressing. These primitive actions can be assembled into a variety of motion sequences for dressing different garments with different styles. Exploiting both feed-forward and feedback control mechanisms, we develop a dressing controller to handle each of the primitive actions. The controller plans a path to achieve the action goal while making constant adjustments locally based on the current state of the simulated cloth when necessary. We demonstrate that our framework is versatile and able to animate dressing with different clothing types including a jacket, a pair of shorts, a robe, and a vest. Our controller is also robust to different cloth mesh resolutions which can cause the cloth simulator to generate significantly different cloth motions. In addition, we show that the same controller can be extended to assistive dressing.

Supplementary Material

ZIP File (a116-clegg.zip)

Supplemental files

Download
186.68 MB

MP4 File (a116.mp4)

Download
16.96 MB

References

[1]

Bai, Y., and Liu, C. K. 2014. Coupling cloth and rigid bodies for dexterous manipulation. In Proceedings of the Seventh International Conference on Motion in Games, ACM, New York, NY, USA, MIG '14, 139--145.

Digital Library

[2]

Bai, Y., and Liu, C. K. 2014. Dexterous manipulation using both palm and fingers. In ICRA, IEEE, 1560--1565.

[3]

Bersch, C., Pitzer, B., and Kammel, S. 2011. Bimanual robotic cloth manipulation for laundry folding. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, IEEE, 1413--1419.

[4]

Cusumano-Towner, M., Singh, A., Miller, S., O'Brien, J. F., and Abbeel, P. 2011. Bringing clothing into desired configurations with limited perception. In Robotics and Automation (ICRA), 2011 IEEE International Conference on, IEEE, 3893--3900.

[5]

Fahantidis, N., Paraschidis, K., Petridis, V., Doulgeri, Z., Petrou, L., and Hasapis, G. 1997. Robot handling of flat textile materials. IEEE Robot. Automat. Mag 4, 1, 34--41.

[6]

Gleicher, M. 1998. Retargetting motion to new characters. In Proceedings of the 25th Annual Conference on Computer Graphics and Interactive Techniques, ACM, New York, NY, USA, SIGGRAPH '98, 33--42.

Digital Library

[7]

Harada, K., Kajita, S., Kaneko, K., and Hirukawa, H. 2003. Pushing manipulation by humanoid considering two-kinds of ZMPs. In IEEE International Conference on Robotics and Automation, vol. 2, 1627--1632.

[8]

Harmon, D., Vouga, E., Tamstorf, R., and Grinspun, E. 2008. Robust treatment of simultaneous collisions. ACM Trans. Graph. 27, 3 (Aug.), 23:1--23:4.

Digital Library

[9]

Ho, E. S. L., and Komura, T. 2009. Character motion synthesis by topology coordinates. Comput. Graph. Forum 28, 2, 299--308.

[10]

Ho, E. S. L., Komura, T., and Tai, C.-L. 2010. Spatial relationship preserving character motion adaptation. ACM Trans. Graph. 29, 4 (July), 33:1--33:8.

Digital Library

[11]

Jansson, J., and Vergeest, J. S. M. 2003. Combining deformable- and rigid-body mechanics simulation. The Visual Computer 19, 5, 280--290.

Digital Library

[12]

Kallmann, M., Aubel, A., Abaci, T., and Thalmann, D. 2003. Planning collision-free reaching motions for interactive object manipulation and grasping. Comput. Graph. Forum 22, 3, 313--322.

[13]

Kim, M., Hyun, K., Kim, J., and Lee, J. 2009. Synchronized multi-character motion editing. ACM Trans. Graph. 28, 3 (July), 79:1--79:9.

Digital Library

[14]

Kosuge, K., Yoshida, H., Fukuda, T., Sakai, M., and Kanitani, K. 1995. Manipulation of a flexible object by dual manipulators. In Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on, vol. 1, IEEE, 318--323.

[15]

Kry, P. G., and Pai, D. K. 2006. Interaction capture and synthesis. ACM Trans. Graph. 25, 3 (July), 872--880.

Digital Library

[16]

Lavalle, S. M., and Kuffner, J. J. 2001. Randomized kinodynamic planning. I. J. Robotic Res. 20, 5, 378--400.

[17]

Liu, C. K., and Jain, S. 2012. A short tutorial on multibody dynamics. Tech. Rep. GIT-GVU-15-01-1, Georgia Institute of Technology, School of Interactive Computing, 08.

[18]

Liu, C. K., Hertzmann, A., and Popović, Z. 2006. Composition of complex optimal multi-character motions. In Proceedings of the 2006 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA '06, 215--222.

Digital Library

[19]

Macklin, M., Müller, M., Chentanez, N., and Kim, T.-Y. 2014. Unified particle physics for real-time applications. ACM Transactions on Graphics (TOG) 33, 4, 153.

Digital Library

[20]

Miguel, E., and Otaduy, M. A. 2011. Efficient simulation of contact between rigid and deformable objects. In Multibody Dynamics, ECCOMAS Thematic Conference.

[21]

Miller, S., Van Den Berg, J., Fritz, M., Darrell, T., Goldberg, K., and Abbeel, P. 2012. A geometric approach to robotic laundry folding. The International Journal of Robotics Research 31, 2, 249--267.

Digital Library

[22]

Narain, R., Samii, A., and O'Brien, J. F. 2012. Adaptive anisotropic remeshing for cloth simulation. ACM Trans. Graph. 31, 6 (Nov.), 152:1--152:10.

Digital Library

[23]

Narain, R., Pfaff, T., and O'Brien, J. F. 2013. Folding and crumpling adaptive sheets. ACM Trans. Graph. 32, 4 (July), 51:1--51:8.

Digital Library

[24]

Nishiwaki, K., Yoon, W.-K., and Kagami, S. 2006. Motion control system that realizes physical interaction between robot's hands and environment during walk. In International Conference on Humanoid Robots, 542--547.

[25]

Osawa, F., Seki, H., and Kamiya, Y. 2007. Unfolding of massive laundry and classification types by dual manipulator. JACIII 11, 5, 457--463.

[26]

Otaduy, M. A., Tamstorf, R., Steinemann, D., and Gross, M. H. 2009. Implicit contact handling for deformable objects. Comput. Graph. Forum 28, 2, 559--568.

[27]

Pollard, N. S., and Zordan, V. B. 2005. Physically based grasping control from example. In Proceedings of the 2005 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, ACM, New York, NY, USA, SCA '05, 311--318.

Digital Library

[28]

Shinar, T., Schroeder, C., and Fedkiw, R. 2008. Two-way coupling of rigid and deformable bodies. In Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA '08, 95--103.

Digital Library

[29]

Sifakis, E., Shinar, T., Irving, G., and Fedkiw, R. 2007. Hybrid simulation of deformable solids. In Proceedings of the 2007 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA '07, 81--90.

Digital Library

[30]

Takubo, T., Inoue, K., and Arai, T. 2005. Pushing an object considering the hand reflect forces by humanoid robot in dynamic walking. In IEEE International Conference on Robotics and Automation, 1706--1711.

[31]

Tamei, T., Matsubara, T., Rai, A., and Shibata, T. 2011. Reinforcement learning of clothing assistance with a dual-arm robot. In Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, IEEE, 733--738.

[32]

Tang, M., Manocha, D., and Tong, R. 2010. Fast continuous collision detection using deforming non-penetration filters. In Proceedings of the 2010 ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, ACM, I3D '10, 7--13.

Digital Library

[33]

Wang, H., and Komura, T. 2012. Manipulation of flexible objects by geodesic control. In Computer Graphics Forum, vol. 31, Wiley Online Library, 499--508.

Digital Library

[34]

Wang, H., Ramamoorthi, R., and O'Brien, J. F. 2011. Data-driven elastic models for cloth: Modeling and measurement. ACM Transactions on Graphics 30, 4 (July), 71:1--11. Proceedings of ACMSIGGRAPH 2011, Vancouver, BC Canada.

Digital Library

[35]

Wang, H., Sidorov, K. A., Sandilands, P., and Komura, T. 2013. Harmonic parameterization by electrostatics. ACM Trans. Graph. 32, 5 (Oct.), 155:1--155:12.

Digital Library

[36]

Wang, Y., Min, J., Zhang, J., Liu, Y., Xu, F., Dai, Q., and Chai, J. 2013. Video-based hand manipulation capture through composite motion control. ACM Trans. Graph. 32, 4 (July), 43:1--43:14.

Digital Library

[37]

Wu, J., Luo, Z., Yamakita, M., and Ito, K. 1995. Adaptive hybrid control of manipulators on uncertain flexible objects. Advanced robotics 10, 5, 469--485.

[38]

Yamane, K., Kuffner, J. J., and Hodgins, J. K. 2004. Synthesizing animations of human manipulation tasks. ACM Trans. Graph. 23, 3 (Aug.), 532--539.

Digital Library

[39]

Ye, Y., and Liu, C. K. 2012. Synthesis of detailed hand manipulations using contact sampling. ACM Trans. Graph. 31, 4 (July), 41:1--41:10.

Digital Library

[40]

Yoshida, E., Belousov, I., Esteves, C., and Laumond, J.-P. 2005. Humanoid motion planning for dynamic tasks. In IEEE International Conference on Humanoid Robotics.

[41]

Zhao, W., Zhang, J., Min, J., and Chai, J. 2013. Robust realtime physics-based motion control for human grasping. ACM Trans. Graph. 32, 6 (Nov.), 207:1--207:12.

Digital Library

Cited By

Shi HYu JDuan T(2024)Advances in personalized modelling and virtual display of ethnic clothing for intelligent customizationAUTEX Research Journal10.1515/aut-2023-004024:1Online publication date: 10-Jul-2024
https://doi.org/10.1515/aut-2023-0040
Crespel OHohnadel EMetivet TBertails-Descoubes F(2024)Contact detection between curved fibres: high order makes a differenceACM Transactions on Graphics10.1145/365819143:4(1-23)Online publication date: 19-Jul-2024
https://dl.acm.org/doi/10.1145/3658191
Zhang PYang LXie XLai J(2024)Pose Guided Person Image Generation Via Dual-Task Correlation and Affinity LearningIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2023.328639430:8(5111-5128)Online publication date: 1-Aug-2024
https://dl.acm.org/doi/10.1109/TVCG.2023.3286394
Show More Cited By

Index Terms

Animating human dressing
1. Computing methodologies
  1. Computer graphics
    1. Animation
  2. Modeling and simulation
    1. Simulation types and techniques
      1. Simulation by animation

Recommendations

Dressing Avatars: Deep Photorealistic Appearance for Physically Simulated Clothing

Despite recent progress in developing animatable full-body avatars, realistic modeling of clothing - one of the core aspects of human self-expression - remains an open challenge. State-of-the-art physical simulation methods can generate realistically ...
The creative process of animating human movement

The computer animation of articulated models such as human figures can be regarded as a complex synthesis task much like composing a musical piece or designing a new product. Developing computer animation tools requires a sound understanding of both ...
Synthesizing animations of human manipulation tasks

Even such simple tasks as placing a box on a shelf are difficult to animate, because the animator must carefully position the character to satisfy geometric and balance constraints while creating motion to perform the task with a natural-looking style. ...

Comments

Information & Contributors

Information

Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 34, Issue 4

August 2015

1307 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/2809654

Issue’s Table of Contents

Copyright © 2015 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 27 July 2015

Published in TOG Volume 34, Issue 4

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Funding Sources

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

30
Total Citations
View Citations
720
Total Downloads

Downloads (Last 12 months)35
Downloads (Last 6 weeks)4

Reflects downloads up to 05 Mar 2025

Other Metrics

View Author Metrics

Citations

Cited By

Shi HYu JDuan T(2024)Advances in personalized modelling and virtual display of ethnic clothing for intelligent customizationAUTEX Research Journal10.1515/aut-2023-004024:1Online publication date: 10-Jul-2024
https://doi.org/10.1515/aut-2023-0040
Crespel OHohnadel EMetivet TBertails-Descoubes F(2024)Contact detection between curved fibres: high order makes a differenceACM Transactions on Graphics10.1145/365819143:4(1-23)Online publication date: 19-Jul-2024
https://dl.acm.org/doi/10.1145/3658191
Zhang PYang LXie XLai J(2024)Pose Guided Person Image Generation Via Dual-Task Correlation and Affinity LearningIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2023.328639430:8(5111-5128)Online publication date: 1-Aug-2024
https://dl.acm.org/doi/10.1109/TVCG.2023.3286394
Aristidou AYiannakidis AAberman KCohen-Or DShamir AChrysanthou Y(2023)Rhythm is a Dancer: Music-Driven Motion Synthesis With Global StructureIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2022.316367629:8(3519-3534)Online publication date: 1-Aug-2023
https://doi.org/10.1109/TVCG.2022.3163676
Zhou BZhou HLiang TYu QZhao SZeng YLv JLuo SWang QYu XChen HLu CShao L(2023)ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment2023 IEEE/CVF International Conference on Computer Vision (ICCV)10.1109/ICCV51070.2023.01868(20371-20381)Online publication date: 1-Oct-2023
https://doi.org/10.1109/ICCV51070.2023.01868
Montes JThomaszewski BMudur SPopa T(2020)Computational design of skintight clothingACM Transactions on Graphics10.1145/3386569.339247739:4(105:1-105:12)Online publication date: 12-Aug-2020
https://dl.acm.org/doi/10.1145/3386569.3392477
Abderrazzak AAbderrahim SMajid BKhalid A(2020)Cloth Fitting Based on Skeleton Driving and Implicit Skinning2020 8th International Conference on Wireless Networks and Mobile Communications (WINCOM)10.1109/WINCOM50532.2020.9272498(1-5)Online publication date: 28-Oct-2020
https://doi.org/10.1109/WINCOM50532.2020.9272498
Buckchash HRaman B(2020)Variational Conditioning of Deep Recurrent Networks for Modeling Complex Motion DynamicsIEEE Access10.1109/ACCESS.2020.29853188(67822-67834)Online publication date: 2020
https://doi.org/10.1109/ACCESS.2020.2985318
Shi GGao CWang DSu Z(2020)Automatic 3D virtual fitting system based on skeleton drivingThe Visual Computer10.1007/s00371-020-01853-137:5(1075-1088)Online publication date: 25-May-2020
https://doi.org/10.1007/s00371-020-01853-1
Zimmermann SPoranne RBern JCoros S(2019)PuppetMasterACM Transactions on Graphics10.1145/3306346.332300338:4(1-11)Online publication date: 12-Jul-2019
https://dl.acm.org/doi/10.1145/3306346.3323003
Show More Cited By

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Article

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Figures

Tables

Media

View Issue’s Table of Contents