Legged robots that balance
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Limit cycle control and its application to the animation of balancing and walking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Multiobjective control with frictional contacts
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Real-time motion retargeting to highly varied user-created morphologies
ACM SIGGRAPH 2008 papers
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Synthesis of constrained walking skills
ACM SIGGRAPH Asia 2008 papers
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
IEEE Transactions on Visualization and Computer Graphics
Real time motion generation and control for biped robot: 1st report: walking gait pattern generation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Motion rings for interactive gait synthesis
I3D '11 Symposium on Interactive 3D Graphics and Games
Physically-based character control in low dimensional space
MIG'10 Proceedings of the Third international conference on Motion in games
Skills-in-a-box: towards abstract models of motor skills
MIG'10 Proceedings of the Third international conference on Motion in games
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Modal-space control for articulated characters
ACM Transactions on Graphics (TOG)
Controlling physics-based characters using soft contacts
Proceedings of the 2011 SIGGRAPH Asia Conference
Using natural vibrations to guide control for locomotion
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Dynamic balancing and walking for real-time 3d characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
Injury assessment for physics-based characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
LocoTest: deploying and evaluating physics-based locomotion on multiple simulation platforms
MIG'11 Proceedings of the 4th international conference on Motion in Games
Optimizing locomotion controllers using biologically-based actuators and objectives
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Walking and steering control for a 3D biped robot considering ground contact and stability
Robotics and Autonomous Systems
International Journal of Robotics Research
Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Falling and landing motion control for character animation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Synthesis of concurrent object manipulation tasks
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review
Computer Graphics Forum
Real-time physical modelling of character movements with microsoft kinect
Proceedings of the 18th ACM symposium on Virtual reality software and technology
Adaptive dynamics with hybrid response
SIGGRAPH Asia 2012 Technical Briefs
Simple data-driven control for simulated bipeds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Simple data-driven control for simulated bipeds
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Planning contact points for humanoid robots
Robotics and Autonomous Systems
Control of rotational dynamics for ground behaviors
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Diverse motion variations for physics-based character animation
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Animating human lower limbs using contact-invariant optimization
ACM Transactions on Graphics (TOG)
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
Computational Design and Motion Control for Characters in the Real World
Proceedings of Motion on Games
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We present a control strategy for physically-simulated walking motions that generalizes well across gait parameters, motion styles, character proportions, and a variety of skills. The control is realtime, requires no character-specific or motion-specific tuning, is robust to disturbances, and is simple to compute. The method works by integrating tracking, using proportional-derivative control; foot placement, using an inverted pendulum model; and adjustments for gravity and velocity errors, using Jacobian transpose control. High-level gait parameters allow for forwards-and-backwards walking, various walking speeds, turns, walk-to-stop, idling, and stop-to-walk behaviors. Character proportions and motion styles can be authored interactively, with edits resulting in the instant realization of a suitable controller. The control is further shown to generalize across a variety of walking-related skills, including picking up objects placed at any height, lifting and walking with heavy crates, pushing and pulling crates, stepping over obstacles, ducking under obstacles, and climbing steps.