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Journal Articles ACM Transactions on Graphics Year : 2011

Locomotion Skills for Simulated Quadrupeds

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Andrej Karpathy
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  • PersonId : 902098
Ben Jones
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  • PersonId : 902099
Lionel Reveret
Michiel van de Panne
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We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped. The motion repertoire for our simulated dog includes walk, trot, pace, canter, transverse gallop, rotary gallop, leaps capable of jumping on-and-off platforms and over obstacles, sitting, lying down, standing up, and getting up from a fall. The controllers use a representation based on gait graphs, a dual leg frame model, a flexible spine model, and the extensive use of internal virtual forces applied via the Jacobian transpose. Optimizations are applied to these control abstractions in order to achieve robust gaits and leaps with desired motion styles. The resulting gaits are evaluated for robustness with respect to push disturbances and the traversal of variable terrain. The simulated motions are also compared to motion data captured from a filmed dog.
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inria-00597664 , version 1 (01-06-2011)



Stelian Coros, Andrej Karpathy, Ben Jones, Lionel Reveret, Michiel van de Panne. Locomotion Skills for Simulated Quadrupeds. ACM Transactions on Graphics, 2011, Special Issue: Proceedings of ACM SIGGRAPH 2011, 30 (4), pp.Article 59. ⟨10.1145/2010324.1964954⟩. ⟨inria-00597664⟩
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