Feature-based locomotion controllers

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Published
2010-07-26
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  • https://www.acm.org/publications/policies/copyright_policy#Background
DOI
  • 10.1145/1778765.1781157
Publisher
Association for Computing Machinery (ACM)

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<jats:p>This paper introduces an approach to control of physics-based characters based on high-level features of movement, such as center-of-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 end-effectors. 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, heel-off, 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 motion capture or off-line optimization process is used.</jats:p>

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