Difference: GeneralizedBiped (3 vs. 4)

Contribution The paper presents an easily-generalizable control scheme for physically-based walking bipeds. The control scheme incorporates as components a set of previously existing control strategies that are well-developed and understood. Furthermore, a system for non-expert authoring of walking motions is demonstrated.

Evaluation The system is evaluated by demonstrating the generalization of the control scheme over various different aspects of a virtual walking character: the gait, the walking style, the character body shape. The control scheme is also evaluated using a number of task-based simulations such as reaching for an object, navigating uneven terrain and obstacles, and even moving a heavy object.

Reproducibility The paper is very much reproducible due to both the detailed description of the algorithms involved, as well as the freely available source code.

Improvements The paper is well-organized and well-written, making it easy to understand the concepts presented within. I have no significant criticisms of the research content either.

-- Main.cdoran - 24 Nov 2011