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Guided Optimization for Balanced Locomotion

Michiel van de Panne Alexis Lamouret 1 
1 iMAGIS - Models, Algorithms and Geometry for Computer Generated Image Graphics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : Teaching simulated creatures how to walk and run is a challenging problem. As with a baby learning to walk, however, the task of synthesizing the necessary muscle control is simplified if an external hand to assist in maintaining balance is provided. A method if using guiding forces to allow progressive learning of control actions for balanced locomotion is presented. The process has three stages. Stage one involves using a “hand of God” to facilitate balance while the basic actions of a desired motion are learned. Stage two reduces the dependence on external guidance, yielding a more balanced motion. The method is applied to obtain walking motions for a simple biped and a bird-like mechanical creature, as well as walking, running, and skipping motions for a human model of realistic proportions.
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  • HAL Id : inria-00510128, version 1



Michiel van de Panne, Alexis Lamouret. Guided Optimization for Balanced Locomotion. 6th Eurographics Workshop on Animation and Simulation, 1995, Maastricht, Netherlands. ⟨inria-00510128⟩



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