Generalized Biped Walking Control

Contribution:
Evaluation:
Reproducibility:
Improvements:

-- MichielVanDePanne - 24 Nov 2011

(a) What is the contribution of the paper? The authors present a generalized real-time control strategy for walking bipedal characters. Specific tuning with respect to parameters or characters is not required, the controller is robust to disturbances, and control strategies can be successfully authored by non-expert users. The research integrates a series of constituent components that have existed in the control literature for 16 years. (b) How are the results evaluated? Results are provided in the form of two videos. Results show that the proposed walking control models were able to generalize across (1) gait parameters (both forward and backward), (2) styles (authored by novice users), (3) characters (with arbitrary proportions) and (4) tasks (such as reaching, moving a crate, navigating around obstacles/stairs and in crowds). (c) Is the paper reproducible? Yes. Source code is provided by the authors, along with all implementation details (parameters, etc.) required to reproduce the simulation in ODE. (d) How could the paper research or paper writing be improved? No complaints here.

-- DanielTroniak - 24 Nov 2011