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 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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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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