Legged robots that balance
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Multi-level direction of autonomous creatures for real-time virtual environments
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd 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
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Self-stabilizing running
Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot
International Journal of Robotics Research
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
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
IEEE Computer Graphics and Applications
Optimal gait and form for animal locomotion
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Terrain-adaptive bipedal locomotion control
ACM SIGGRAPH 2010 papers
Optimal feedback control for character animation using an abstract model
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
Generating high-speed dynamic running gaits in a quadruped robot using an evolutionary search
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Discovery of complex behaviors through contact-invariant optimization
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Terrain runner: control, parameterization, composition, and planning for highly dynamic motions
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
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
Biologically---Inspired motion pattern design of multi---legged creatures
EvoMUSART'13 Proceedings of the Second international conference on Evolutionary and Biologically Inspired Music, Sound, Art and Design
Modeling and animating myriapoda: a real-time kinematic/dynamic approach
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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
Flexible muscle-based locomotion for bipedal creatures
ACM Transactions on Graphics (TOG)
Data-driven control of flapping flight
ACM Transactions on Graphics (TOG)
Procedural model of horse simulation
Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Computational Design and Motion Control for Characters in the Real World
Proceedings of Motion on Games
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We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped. The motion repertoire for our simulated dog includes walk, trot, pace, canter, transverse gallop, rotary gallop, leaps capable of jumping on-and-off platforms and over obstacles, sitting, lying down, standing up, and getting up from a fall. The controllers use a representation based on gait graphs, a dual leg frame model, a flexible spine model, and the extensive use of internal virtual forces applied via the Jacobian transpose. Optimizations are applied to these control abstractions in order to achieve robust gaits and leaps with desired motion styles. The resulting gaits are evaluated for robustness with respect to push disturbances and the traversal of variable terrain. The simulated motions are also compared to motion data captured from a filmed dog.