In this chapter, we first overview the common methods for building biped controllers in physics-based character animation. Then we explain in detail two closely related biped controllers: SIMBICON and GENBICON. The simple biped locomotion control (SIMBICON) strategy adopts a simple linear feedback strategy for foot placement to maintain balance during locomotion. The generalized biped walking control (GENBICON) strategy improves the balance control using an inverted pendulum model for foot placement, in conjunction with Jacobian-transpose control for velocity fine-tuning and gravity compensation for all limb movement. Both SIMBICON and GENBICON use proportional-derivative joint servos to track a desired motion style, which can be interactively edited by users. The major advantages of such biped controllers include simplicity, robustness, and directable styles. Finally, we discuss our ongoing efforts toward building more versatile and robust controllers with minimal prior knowledge.
Biped control Physics-based character animation Motion control Balance feedback Motion capture Inverted pendulum Jacobian transpose control Foot placement
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We sincerely thank all our collaborators for their contributions to the work described in this chapter, especially Kevin Loken and Philippe Beaudoin. This work was funded in part by NSERC Discovery Grant RGPIN-2015-04843.
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