research-article

Optimizing walking controllers

Authors:

David J. Fleet,

Aaron HertzmannAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 28, Issue 5

Pages 1 - 8

https://doi.org/10.1145/1618452.1618514

Published: 01 December 2009 Publication History

Abstract

This paper describes a method for optimizing the parameters of a physics-based controller for full-body, 3D walking. A modified version of the SIMBICON controller [Yin et al. 2007] is optimized for characters of varying body shape, walking speed and step length. The objective function includes terms for power minimization, angular momentum minimization, and minimal head motion, among others. Together these terms produce a number of important features of natural walking, including active toe-off, near-passive knee swing, and leg extension during swing. We explain the specific form of our objective criteria, and show the importance of each term to walking style. We demonstrate optimized controllers for walking with different speeds, variation in body shape, and in ground slope.

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Optimizing walking controllers

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 28, Issue 5

December 2009

646 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/1618452

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Copyright © 2009 ACM.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 December 2009

Published in TOG Volume 28, Issue 5

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Rong DGang F(2024)A Lightweight Hand Attitude Estimation Method Based on GCN Feature EnhancementElectronics10.3390/electronics1322442413:22(4424)Online publication date: 12-Nov-2024
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