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We present a synthesis-analysis-synthesis framework for this type of problem. First, an offline optimization method is applied in order to compute example control solutions for randomly-generated example problems from the given task domain. Second, the example motions and their underlying control patterns are analyzed to build a low-dimensional step-to-step model of the dynamics. Third, this model is exploited by a planner to solve new instances of the task at interactive rates. We demonstrate real-time navigation across constrained terrain for physics-based simulations of 2D and 3D characters. Because the framework sythesizes its own example data, it can be applied to bipedal characters for which no motion data is available.<\/jats:p>","DOI":"10.1145\/1409060.1409066","type":"journal-article","created":{"date-parts":[[2008,12,3]],"date-time":"2008-12-03T21:56:04Z","timestamp":1228341364000},"page":"1-9","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":35,"title":["Synthesis of constrained walking skills"],"prefix":"10.1145","volume":"27","author":[{"given":"Stelian","family":"Coros","sequence":"first","affiliation":[{"name":"University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Beaudoin","sequence":"additional","affiliation":[{"name":"University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kang Kang","family":"Yin","sequence":"additional","affiliation":[{"name":"University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michiel","family":"van de Panne","sequence":"additional","affiliation":[{"name":"University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2008,12]]},"reference":[{"volume-title":"Proc. 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