Synthesis of Constrained Walking Skills

ACM Transaction on Graphics (Proceedings of SIGGRAPH ASIA 2008)

Stelian Coros    Philippe Beaudoin    KangKang Yin    Michiel van de Panne

University of British Columbia


A step-to-step dynamic model is used by an online planner to navigate across constrained terrain.


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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Different walking styles.  
Stepping-stone problem.  
Following a path while avoiding crevasses.  
    author = {Stelian Coros and Philippe Beaudoin and KangKang Yin and Michiel van de Panne},
    title = {Synthesis of Constrained Walking Skills},
    journal = {ACM Trans. Graph. (Proc. Siggraph Asia)},
    year = {2008},
    volume = {27},
    number = {5},
   NSERC (Natural Sciences and Engineering Research Council of Canada)