Difference: GeneralizedBiped (4 vs. 5)

Contribution :

parameterized biped walking that allows realtime control is suggested. Character styles (i.e. shape and structure) can be changed in realtime. Generalized control for variety of walking based skills are also developed.

Results Evaluation:

The basic balance control parameters are determined based on the control framework. Other factors are determined for optimum performace viz., friction coefficient, character mass, PD control gain etc. A human model containing a total DOF of 37 (including 6 for global positioning) is used. Dynamics are simulated using ODE with a time step of .0005 seconds. Results corresponding to generalization accross gait, style, characters and tasks are computed and explained.

Reproducibility:

I believe the paper is reproducible. All the parameter selections are backed with proper explainations. Although, exact reproduction should be time consuming given the task of learning the techniques that have been referred to other papers, for instance the invert pendulum model (IPM) and SIMBICON.

Improvements:

Although, overall the writing style is good and up to point. Some of the text could have been swapped out by pseudo code and/or algorithmic description of methodology.

-- Main.sumanm - 24 Nov 2011