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Synthesis of constrained walking skills

Published: 01 December 2008 Publication History

Abstract

Simulated characters in simulated worlds require simulated skills. We develop control strategies that enable physically-simulated characters to dynamically navigate environments with significant stepping constraints, such as sequences of gaps. We present a synthesis-analysis-synthesis framework for this type of problem. First, an offline optimization method is applied in order to compute example control solutions for randomly-generated example problems from the given task domain. Second, the example motions and their underlying control patterns are analyzed to build a low-dimensional step-to-step model of the dynamics. Third, this model is exploited by a planner to solve new instances of the task at interactive rates. We demonstrate real-time navigation across constrained terrain for physics-based simulations of 2D and 3D characters. Because the framework sythesizes its own example data, it can be applied to bipedal characters for which no motion data is available.

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Cited By

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  • (2024)MoConVQ: Unified Physics-Based Motion Control via Scalable Discrete RepresentationsACM Transactions on Graphics10.1145/365813743:4(1-21)Online publication date: 19-Jul-2024
  • (2022)Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9812015(10428-10434)Online publication date: 23-May-2022
  • (2022)Learning Bipedal Walking On Planned Footsteps For Humanoid Robots2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)10.1109/Humanoids53995.2022.10000067(686-693)Online publication date: 28-Nov-2022
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cover image ACM Conferences
SIGGRAPH Asia '08: ACM SIGGRAPH Asia 2008 papers
December 2008
581 pages
ISBN:9781450318310
DOI:10.1145/1457515
  • Editor:
  • John C. Hart
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 01 December 2008

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SIGGRAPH Asia '08 Paper Acceptance Rate 59 of 320 submissions, 18%;
Overall Acceptance Rate 178 of 869 submissions, 20%

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Cited By

View all
  • (2024)MoConVQ: Unified Physics-Based Motion Control via Scalable Discrete RepresentationsACM Transactions on Graphics10.1145/365813743:4(1-21)Online publication date: 19-Jul-2024
  • (2022)Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9812015(10428-10434)Online publication date: 23-May-2022
  • (2022)Learning Bipedal Walking On Planned Footsteps For Humanoid Robots2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)10.1109/Humanoids53995.2022.10000067(686-693)Online publication date: 28-Nov-2022
  • (2020)ALLSTEPSProceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation10.1111/cgf.14115(1-12)Online publication date: 6-Oct-2020
  • (2012)Finger walkingProceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation10.5555/2422356.2422364(43-52)Online publication date: 29-Jul-2012
  • (2012)FingerWalkingProceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation10.5555/2421731.2421739(43-52)Online publication date: 29-Jul-2012
  • (2011)A hybrid interpolation scheme for footprint-driven walking synthesisProceedings of Graphics Interface 201110.5555/1992917.1992920(9-16)Online publication date: 25-May-2011
  • (2010)Motion fields for interactive character locomotionACM Transactions on Graphics10.1145/1882261.186616029:6(1-8)Online publication date: 15-Dec-2010
  • (2010)Motion fields for interactive character locomotionACM SIGGRAPH Asia 2010 papers10.1145/1866158.1866160(1-8)Online publication date: 15-Dec-2010
  • (2010)Generalized biped walking controlACM SIGGRAPH 2010 papers10.1145/1833349.1781156(1-9)Online publication date: 26-Jul-2010
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