research-article

Locomotion skills for simulated quadrupeds

Authors:

Andrej Karpathy,

Lionel Reveret,

Michiel van de PanneAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 30, Issue 4

Article No.: 59, Pages 1 - 12

https://doi.org/10.1145/2010324.1964954

Published: 25 July 2011 Publication History

Abstract

We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped. The motion repertoire for our simulated dog includes walk, trot, pace, canter, transverse gallop, rotary gallop, leaps capable of jumping on-and-off platforms and over obstacles, sitting, lying down, standing up, and getting up from a fall. The controllers use a representation based on gait graphs, a dual leg frame model, a flexible spine model, and the extensive use of internal virtual forces applied via the Jacobian transpose. Optimizations are applied to these control abstractions in order to achieve robust gaits and leaps with desired motion styles. The resulting gaits are evaluated for robustness with respect to push disturbances and the traversal of variable terrain. The simulated motions are also compared to motion data captured from a filmed dog.

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Index Terms

Locomotion skills for simulated quadrupeds
1. Computing methodologies
  1. Computer graphics
    1. Animation
    2. Shape modeling
2. Theory of computation
  1. Randomness, geometry and discrete structures
    1. Computational geometry

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 30, Issue 4

July 2011

829 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/2010324

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Copyright © 2011 ACM.

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Publication History

Published: 25 July 2011

Published in TOG Volume 30, Issue 4

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Cited By

Park GHwang JKwon T(2025)Sample-efficient reference-free control strategy for multi-legged locomotionComputers & Graphics10.1016/j.cag.2024.104141126(104141)Online publication date: Feb-2025
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Mittal MRudin NKlemm VAllshire AHutter M(2024)Symmetry Considerations for Learning Task Symmetric Robot Policies2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10611493(7433-7439)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10611493
Grandia RFarshidian FKnoop ESchumacher CHutter MBächer M(2023)DOC: Differentiable Optimal Control for Retargeting Motions onto Legged RobotsACM Transactions on Graphics10.1145/359245442:4(1-14)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592454
Han SPark JChoi S(2023)Generating Haptic Motion Effects for Multiple Articulated Bodies for Improved 4D Experiences: A Camera Space ApproachProceedings of the 2023 CHI Conference on Human Factors in Computing Systems10.1145/3544548.3580727(1-17)Online publication date: 19-Apr-2023
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Bing ZRohregger AWalter FHuang YLucas PMorin FHuang KKnoll A(2023)Lateral flexion of a compliant spine improves motor performance in a bioinspired mouse robotScience Robotics10.1126/scirobotics.adg71658:85Online publication date: 6-Dec-2023
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Li XGao WLi XZhang S(2023)Terrain-guided Symmetric Locomotion Generation for Quadrupedal Robots via Reinforcement Learning2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)10.1109/ROBIO58561.2023.10354605(1-6)Online publication date: 4-Dec-2023
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Lin ZZhou SPan ZLiu SWang R(2023)Exploring the Effect of Pitching and Rolling Spine Angle for a Galloping Quadruped Robot via Trajectory Optimization2023 6th International Conference on Robotics, Control and Automation Engineering (RCAE)10.1109/RCAE59706.2023.10398751(56-62)Online publication date: 3-Nov-2023
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Zhao YWang JCao GYuan YYao XQi L(2023)Intelligent Control of Multilegged Robot Smooth Motion: A ReviewIEEE Access10.1109/ACCESS.2023.330499211(86645-86685)Online publication date: 2023
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Nah MKrotov ARusso MSternad DHogan N(2023)Learning to manipulate a whip with simple primitive actions – A simulation studyiScience10.1016/j.isci.2023.10739526:8(107395)Online publication date: Aug-2023
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