research-article

Optimizing walking controllers

Authors:

David J. Fleet,

Aaron HertzmannAuthors Info & Claims

SIGGRAPH Asia '09: ACM SIGGRAPH Asia 2009 papers

Article No.: 168, Pages 1 - 8

https://doi.org/10.1145/1661412.1618514

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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Cited By

Juravsky JGuo YFidler SPeng X(2024)SuperPADL: Scaling Language-Directed Physics-Based Control with Progressive Supervised DistillationACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657492(1-11)Online publication date: 13-Jul-2024
https://dl.acm.org/doi/10.1145/3641519.3657492
Cao ZBao TRen ZFan YDeng KJia W(2022)Real-Time Stylized Humanoid Behavior Control through Interaction and SynchronizationSensors10.3390/s2204145722:4(1457)Online publication date: 14-Feb-2022
https://doi.org/10.3390/s22041457
Juravsky JGuo YFidler SPeng X(2022)PADL: Language-Directed Physics-Based Character ControlSIGGRAPH Asia 2022 Conference Papers10.1145/3550469.3555391(1-9)Online publication date: 29-Nov-2022
https://dl.acm.org/doi/10.1145/3550469.3555391
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Index Terms

Optimizing walking controllers

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cover image ACM Conferences

SIGGRAPH Asia '09: ACM SIGGRAPH Asia 2009 papers

December 2009

669 pages

ISBN:9781605588582

DOI:10.1145/1661412

Conference Chair:
Masa Inakage
Keio University

Copyright © 2009 ACM.

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 2009

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SA09: SIGGRAPH ASIA 2009

December 16 - 19, 2009

Yokohama, Japan

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SIGGRAPH Asia '09 Paper Acceptance Rate 70 of 275 submissions, 25%;

Overall Acceptance Rate 178 of 869 submissions, 20%

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Cited By

Juravsky JGuo YFidler SPeng X(2024)SuperPADL: Scaling Language-Directed Physics-Based Control with Progressive Supervised DistillationACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657492(1-11)Online publication date: 13-Jul-2024
https://dl.acm.org/doi/10.1145/3641519.3657492
Cao ZBao TRen ZFan YDeng KJia W(2022)Real-Time Stylized Humanoid Behavior Control through Interaction and SynchronizationSensors10.3390/s2204145722:4(1457)Online publication date: 14-Feb-2022
https://doi.org/10.3390/s22041457
Juravsky JGuo YFidler SPeng X(2022)PADL: Language-Directed Physics-Based Character ControlSIGGRAPH Asia 2022 Conference Papers10.1145/3550469.3555391(1-9)Online publication date: 29-Nov-2022
https://dl.acm.org/doi/10.1145/3550469.3555391
Park JMin SChang PLee JPark MLee J(2022)Generative GaitNetACM SIGGRAPH 2022 Conference Proceedings10.1145/3528233.3530717(1-9)Online publication date: 27-Jul-2022
https://dl.acm.org/doi/10.1145/3528233.3530717
Tao TWilson MGou Rvan de Panne M(2022)Learning to Get UpACM SIGGRAPH 2022 Conference Proceedings10.1145/3528233.3530697(1-10)Online publication date: 27-Jul-2022
https://dl.acm.org/doi/10.1145/3528233.3530697
Peng XGuo YHalper LLevine SFidler S(2022)ASEACM Transactions on Graphics10.1145/3528223.353011041:4(1-17)Online publication date: 22-Jul-2022
https://dl.acm.org/doi/10.1145/3528223.3530110
Elías Alonso GJin X(2022)Skeleton‐level control for multi‐agent simulation through deep reinforcement learningComputer Animation and Virtual Worlds10.1002/cav.207933:3-4Online publication date: 3-Jun-2022
https://doi.org/10.1002/cav.2079
Yang ZYin Z(2021)Efficient Hyperparameter Optimization for Physics-based Character AnimationProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/34512544:1(1-19)Online publication date: 28-Apr-2021
https://dl.acm.org/doi/10.1145/3451254
Yin ZYang ZVan De Panne MYin K(2021)Discovering diverse athletic jumping strategiesACM Transactions on Graphics10.1145/3450626.345981740:4(1-17)Online publication date: Aug-2021
https://doi.org/10.1145/3450626.3459817
Peng XMa ZAbbeel PLevine SKanazawa A(2021)AMPACM Transactions on Graphics10.1145/3450626.345967040:4(1-20)Online publication date: 19-Jul-2021
https://dl.acm.org/doi/10.1145/3450626.3459670
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