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2008

Continuation methods for adapting simulated skills

8 years 11 months ago
Continuation methods for adapting simulated skills
Modeling the large space of possible human motions requires scalable techniques. Generalizing from example motions or example controllers is one way to provide the required scalability. We present techniques for generalizing a controller for physics-based walking to significantly different tasks, such as climbing a large step up, or pushing a heavy object. Continuation methods solve such problems using a progressive sequence of problems that trace a path from an existing solved problem to the final desired-butunsolved problem. Each step in the continuation sequence makes progress towards the target problem while further adapting the solution. We describe and evaluate a number of choices in applying continuation methods to adapting walking gaits for tasks involving interaction with the environment. The methods have been successfully applied to automatically adapt a regular cyclic walk to climbing a 65cm step, stepping over a 55cm sill, pushing heavy furniture, walking up steep inclines...
KangKang Yin, Stelian Coros, Philippe Beaudoin, Mi
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2008
Where TOG
Authors KangKang Yin, Stelian Coros, Philippe Beaudoin, Michiel van de Panne
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