In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of...
This paper presents a hybrid approach to the animation of human locomotion which combines goal-directed and dynamic motion control. Knowledge about a locomotion cycle is incorpora...
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. Obje...
— Passive dynamics plays an important role in legged locomotion of the biological systems. The use of passive dynamics is expected for energy efficiency, self-stabilization agai...
This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion systems based on its kinematic and dynamic models. The purpose is to determine the...