Difference: GeneralizedBiped (5 vs. 6)
Revision 62011-11-24 - KevinWoo
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Generalized Biped Walking Control | ||||||||
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| -- DanielTroniak - 24 Nov 2011 | ||||||||
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Contribution This study combines four components in a novel way that allows the proposed model to achieve a control mechanism for physically-simulated walking motions. As a result, the controller generalizes across gait parameters, motion styles, character proportions, and a variety of skills. | ||||||||
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| ozgur -- Main.ooguz - 24 Nov 2011 | ||||||||
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| 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. | ||||||||
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| -- Main.cdoran - 24 Nov 2011 | ||||||||
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| -- Main.sumanm - 24 Nov 2011 | ||||||||
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The paper introduced a multi-component biped walking controller that can be generalized for a variety of high-level tasks. The interaction of various components, such as the feedback and compensation components, allow the same controller to refine and adapt itself to work for a different body shapes and changing movement trajectories in real-time that would not have been possible for each component alone. The results were generally qualitative evaluations of the controller adapted to perform a variety of tasks and skills without the much-dreaded parameter tuning normally required of other controllers. A general robustness test was also done by pushing walking bodies of various types. A usability test was done for an interactive version of this system allowing for realtime style and user-controlled parameter modification even by a novice. The work appears reproducible, in the sense that the full working source code is available online. Perhaps this explains why the researchers spent little time explaining implementation details and more about the motivation and conceptual involved, which can appear rather abstract to the unfamiliar reader. A more grounded perspective in an appendix would have been helpful. -- KevinWoo | |||||||
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