Comparing Foot Placement Strategies for Planar Bipedal Walking

A number of foot placement strategies for walking have been proposed that make use of widely varying model complexities. Although a number of successful demonstrations have been individually shown in simulation and on physical robots, it is difficult to make a direct performance comparison due to the large differences in hardware, gait generation strategy, control system gains, actuator saturation limits, sensor noise, and many other physical limitations. Here we present a quantitative stability comparison of four foot-placement strategies.

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Generating and Ranking Diverse Multi-Character Interactions

Our novel `generate-and-rank' approach rapidly and semi-automatically generates data-driven fight scenes from high-level text descriptions composed of simple clauses and phrases. From a database of captured motions and its associated motion graph, we first generate a `cascade' of plausible scenes.

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