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SIMBICON: simple biped locomotion control

Authors:

Michiel van de PanneAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 26, Issue 3

Pages 105 - es

https://doi.org/10.1145/1276377.1276509

Published: 29 July 2007 Publication History

Abstract

Physics-based simulation and control of biped locomotion is difficult because bipeds are unstable, underactuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning), running, skipping, and hopping. Controllers can be authored using a small number of parameters, or their construction can be informed by motion capture data. The controllers are applied to 2D and 3D physically-simulated character models. Their robustness is demonstrated with respect to pushes in all directions, unexpected steps and slopes, and unexpected variations in kinematic and dynamic parameters. Direct transitions between controllers are demonstrated as well as parameterized control of changes in direction and speed. Feedback-error learning is applied to learn predictive torque models, which allows for the low-gain control that typifies many natural motions as well as producing smoother simulated motion.

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SIMBICON: simple biped locomotion control

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 26, Issue 3

July 2007

976 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/1276377

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Copyright © 2007 ACM.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 29 July 2007

Published in TOG Volume 26, Issue 3

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Hopkins MWiedebach GCesare KBishop JKnoop EBächer M(2024)Interactive Design of Stylized Walking Gaits for Robotic CharactersACM Transactions on Graphics10.1145/365822743:4(1-16)Online publication date: 19-Jul-2024
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