Abstract
Teaching simulated creatures how to walk and run is a challenging problem. As with a baby learning to walk, however, the task of synthesizing the necessary muscle control is simplified if an external hand to assist in maintaining balance is provided. A method of using guiding forces to allow progressive learning of control actions for balanced locomotion is presented. The process has three stages. Stage one involves using a “hand of God” to facilitate balance while the basic actions of a desired motion are learned. Stage two reduces the dependence on external guidance, yielding a more balanced motion. Where possible, a third stage removes the external guidance completely to produce a free, balanced motion. The method is applied to obtain walking motions for a simple biped and a bird-like mechanical creature, as well as walking, running, and skipping motions for a human model of realistic proportions.
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van de Panne, M., Lamouret, A. (1995). Guided Optimization for Balanced Locomotion. In: Terzopoulos, D., Thalmann, D. (eds) Computer Animation and Simulation ’95. Eurographics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-9435-5_13
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DOI: https://doi.org/10.1007/978-3-7091-9435-5_13
Publisher Name: Springer, Vienna
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