Difference: OptimizingWalking (4 vs. 5)

Contribution The paper presents a method for optimizing a physics-based controller for a walking biped. The optimization accounts for desirable properties such as angular momentum minimization and head stability, in an effort to produce a more realistic walking motion.

Evaluation The success of the optimization method is evaluated experimentally by optimizing a SIMBICON control scheme and observing the resulting motions. A number of different criteria are used, such as comparison to motion capture data and comparison to the features of real human motion. The flexibility and robustness of the generated controllers are also tested by optimizing for different body shapes and for terrain that isn't flat.

Reproducibility The paper is reproducible, due to the high level of detail provided about the specific controller designs as well as the optimization method.

Improvements The paper is well-written and well-organized, so there is very little to improve in that respect. A minor criticism is that the evaluation of the success of the generated controllers is not the easiest to see directly, due to a lack of quantitative data and the inherent difficulty of demonstrating motion in a paper. Watching the accompanying video alleviates much of this problem, however.

-- Main.cdoran - 24 Nov 2011