Feature-based locomotion controllers

10 years 10 months ago
Feature-based locomotion controllers
This paper introduces an approach to control of physics-based characters based on high-level features of movement, such as centerof-mass, angular momentum, and end-effectors. Objective terms are used to control each feature, and are combined by a prioritization algorithm. We show how locomotion can be expressed in terms of a small number of features that control balance and endeffectors. This approach is used to build controllers for human balancing, standing jump, and walking. These controllers provide numerous benefits: human-like qualities such as arm-swing, heeloff, and hip-shoulder counter-rotation emerge automatically during walking; controllers are robust to changes in body parameters; control parameters and goals may be modified at run-time; control parameters apply to intuitive properties such as center-of-mass height; and controllers may be mapped onto entirely new bipeds with different topology and mass distribution, without modifications to the controller itself. No mot...
Martin de Lasa, Igor Mordatch, Aaron Hertzmann
Added 28 Jul 2010
Updated 29 Jul 2010
Type Conference
Year 2010
Authors Martin de Lasa, Igor Mordatch, Aaron Hertzmann
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