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SIMBICON: simple biped locomotion control
Abstract
Physics-based simulation and control of biped locomotion is difficult because bipeds are unstable, underactuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning), running, skipping, and hopping. Controllers can be authored using a small number of parameters, or their construction can be informed by motion capture data. The controllers are applied to 2D and 3D physically-simulated character models. Their robustness is demonstrated with respect to pushes in all directions, unexpected steps and slopes, and unexpected variations in kinematic and dynamic parameters. Direct transitions between controllers are demonstrated as well as parameterized control of changes in direction and speed. Feedback-error learning is applied to learn predictive torque models, which allows for the low-gain control that typifies many natural motions as well as producing smoother simulated motion.
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Cited by
Hierarchical motor control in mammals and machines
Merel, J., Botvinick, M., & Wayne, G. (2019) · Nature Communications · doi:10.1038/s41467-019-13239-6 · Cited by 274
Optimizing walking controllers
Wang, J. M., Fleet, D. J., & Hertzmann, A. (2009) · ACM Transactions on Graphics · doi:10.1145/1618452.1618514 · Cited by 181
Optimizing walking controllers for uncertain inputs and environments
Wang, J. M., Fleet, D. J., & Hertzmann, A. (2010) · ACM Transactions on Graphics · doi:10.1145/1778765.1778810 · Cited by 113
Learning to dress: Synthesizing human dressing motion via deep reinforcement learning
Clegg, A., Yu, W., Tan, J., Liu, C. K., & Turk, G. (2018) · ACM Transactions on Graphics · doi:10.1145/3272127.3275048 · Cited by 89
From motor control to team play in simulated humanoid football
Liu, S., Lever, G., Wang, Z., Merel, J., Eslami, S. M. A., Hennes, D., Czarnecki, W. M., Tassa, Y., Omidshafiei, S., Abdolmaleki, A., et al. (2022) · Science Robotics · doi:10.1126/scirobotics.abo0235 · Cited by 88
Metadata
- Authors
- Yin, K., Loken, K., & van de Panne, M.
- Venue
- ACM Transactions on Graphics
- Published
- 2007-07-29
- Volume
- 26
- Issue
- 3
- Pages
- 105
- ISSN
- 0730-0301 (ISSN-L)
- 1557-7368
- OpenAlex
- W4205985701
- Cited by
- 337
- References
- 0
- FWCI
- 39.95
- Type
- journal article
- Language
- en
- Open access
- closed
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- Yin, K., Loken, K., & van de Panne, M. (2007). SIMBICON: simple biped locomotion control. ACM Transactions on Graphics. https://doi.org/10.1145/1276377.1276509
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