Control of Running and Walking

Paper One

Marc H. Raibert and Jessica K. Hodgins. Animation of dynamic legged locomotion. In SIGGRAPH ’91: Proceedings of the 18th annual conference on Computer graphics and interactive techniques, pages 349–358, New York, NY, USA, 1991. ACM Press.

This is an example response. To add your own response, click on 'Edit' above. Paragraphs are separated with just a blank line. This paper is interesting because... It is flawed because ... I didn't understand the following bits... Open problems are ... -- Michiel van de Panne

Another paragraph. Replace this text.

Paper Two

Joseph Laszlo, Michiel van de Panne, and Eugene Fiume. Limit cycle control and its application to the animation of balancing and walking. In SIGGRAPH ’96: Proceedings of the 23rd annual conference on Computer graphics and interactive techniques, pages 155–162, New York, NY, USA, 1996. ACM Press.

Another paper. Please add your comments below.

This set of papers is significantly different from what I have seen in our class so far, it introduces quite a few new concepts which I expect more elaborations on, such as what does it mean by unstable motion? Linear predictive model (section 5.2), and proportional derivative controller (PD). The idea presented in the paper is very neat, using FSM to determine next state and PD controller to compute the required force and torques which can lead the articulated figure to the desired pose. However, control perturbation is used to solve this control problem and perturbation is like trial-and-error therefore, it would still be an issue of the efficiency. -- Steven Chang