We present a control strategy for physically-simulated walking motions that generalizes well
across gait parameters, motion styles, character proportions, and a variety of skills. The …

We propose a novel representation of motion data and control that enables characters with
both highly agile responses to user input and natural handling of arbitrary external …

We present a dynamic controller to physically simulate under-actuated three-dimensional
full-body biped locomotion. Our data-driven controller takes motion capture reference data to …

This paper presents a physics-based locomotion controller based on online planning. At
each time-step, a planner optimizes locomotion over multiple phases of gait. Stance …

We introduce methods for optimizing physics-based walking controllers for robustness to
uncertainty. Many unknown factors, such as external forces, control torques, and user control …

Physical simulation is often proposed as a way to generate motion for interactive characters.
A simulated character has the potential to adapt to changing terrain and disturbances in a …

We describe a framework for the automatic synthesis of biped locomotion controllers that
adapt to uneven terrain at run-time. The framework consists of two components: a per …

Virtual humans are employed in many interactive applications using 3D virtual
environments, including (serious) games. The motion of such virtual humans should look …

Synthesizing the movements of a responsive virtual character in the event of unexpected
perturbations has proven a difficult challenge. To solve this problem, we devise a fully …

We present a novel L4RW (Laziness‐based Realistic Real‐time Responsive Rebalance in
Walking) technique to synthesize 4RW animations under unexpected external perturbations …