Locomotion Skills for Simulated Quadrupeds - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles ACM Transactions on Graphics Year : 2011

Locomotion Skills for Simulated Quadrupeds

Andrej Karpathy
  • Function : Author
  • PersonId : 902098
Ben Jones
  • Function : Author
  • PersonId : 902099
Lionel Reveret
Michiel van de Panne
  • Function : Author
  • PersonId : 902100


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.
Fichier principal
Vignette du fichier
paper-quadrupeds2011.pdf (2.1 Mo) Télécharger le fichier
Vignette du fichier
2011-quadruped.jpg (5.26 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Format : Figure, Image

Dates and versions

inria-00597664 , version 1 (01-06-2011)



Stelian Coros, Andrej Karpathy, Ben Jones, Lionel Reveret, Michiel van de Panne. Locomotion Skills for Simulated Quadrupeds. ACM Transactions on Graphics, 2011, Special Issue: Proceedings of ACM SIGGRAPH 2011, 30 (4), pp.Article 59. ⟨10.1145/2010324.1964954⟩. ⟨inria-00597664⟩
993 View
1842 Download



Gmail Facebook X LinkedIn More