Guided Optimization for Balanced Locomotion

  • Michiel van de Panne
  • Alexis Lamouret
Part of the Eurographics book series (EUROGRAPH)


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 of 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. Where possible, a third stage removes the external guidance completely to produce a free, 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.


Performance Index Human Model Synthetic Actor Computer Animation Balance Motion 


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Copyright information

© Springer-Verlag/Wien 1995

Authors and Affiliations

  • Michiel van de Panne
    • 1
  • Alexis Lamouret
    • 2
  1. 1.Department of Computer ScienceUniversity of TorontoCanada
  2. 2.iMAGIS/IMAG-INRIAGrenobleFrance

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