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Conference Paper: Optimizing walking controllers

TitleOptimizing walking controllers
Authors
Issue Date2009
Citation
ACM Transactions on Graphics, 2009, v. 28 n. 5, p. 168:1-168:8 How to Cite?
AbstractThis paper describes a method for optimizing the parameters of a physics-based controller for full-body, 3D walking. A modified version of the SIMBICON controller [Yin et al. 2007] is optimized for characters of varying body shape, walking speed and step length. The objective function includes terms for power minimization, angular momentum minimization, and minimal head motion, among others. Together these terms produce a number of important features of natural walking, including active toe-off, near-passive knee swing, and leg extension during swing. We explain the specific form of our objective criteria, and show the importance of each term to walking style. We demonstrate optimized controllers for walking with different speeds, variation in body shape, and in ground slope. © 2009 ACM.
Persistent Identifierhttp://hdl.handle.net/10722/192709
ISSN
2015 Impact Factor: 4.218
2015 SCImago Journal Rankings: 2.552

 

DC FieldValueLanguage
dc.contributor.authorWang, JMen_US
dc.contributor.authorFleet, DJen_US
dc.contributor.authorHertzmann, Aen_US
dc.date.accessioned2013-11-20T04:56:55Z-
dc.date.available2013-11-20T04:56:55Z-
dc.date.issued2009en_US
dc.identifier.citationACM Transactions on Graphics, 2009, v. 28 n. 5, p. 168:1-168:8en_US
dc.identifier.issn0730-0301en_US
dc.identifier.urihttp://hdl.handle.net/10722/192709-
dc.description.abstractThis paper describes a method for optimizing the parameters of a physics-based controller for full-body, 3D walking. A modified version of the SIMBICON controller [Yin et al. 2007] is optimized for characters of varying body shape, walking speed and step length. The objective function includes terms for power minimization, angular momentum minimization, and minimal head motion, among others. Together these terms produce a number of important features of natural walking, including active toe-off, near-passive knee swing, and leg extension during swing. We explain the specific form of our objective criteria, and show the importance of each term to walking style. We demonstrate optimized controllers for walking with different speeds, variation in body shape, and in ground slope. © 2009 ACM.en_US
dc.languageengen_US
dc.relation.ispartofACM Transactions on Graphicsen_US
dc.titleOptimizing walking controllersen_US
dc.typeConference_Paperen_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1145/1661412.1618514en_US
dc.identifier.scopuseid_2-s2.0-77749295243en_US
dc.identifier.volume28en_US
dc.identifier.issue5en_US
dc.identifier.spage168:1en_US
dc.identifier.epage168:8en_US

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