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At the start of each footstep, the planner performs short-term planning in the space of end-effector trajectories. These trajectories adapt to the interactive task goals and the features of the surrounding uneven terrain at run-time. We solve for the parameters of the planner for different tasks in offline optimizations. Using the per-footstep plan, the generalized-force solver takes ground contacts into consideration and solves a quadratic program at each simulation timestep to obtain joint torques that drive the biped. We demonstrate the capabilities of the controllers in complex navigation tasks where they perform gradual or sharp turns and transition between moving forwards, backwards, and sideways on uneven terrain (including hurdles and stairs) according to the interactive task goals. We also show that the resulting controllers are capable of handling morphology changes to the character.<\/jats:p>","DOI":"10.1145\/1778765.1778809","type":"journal-article","created":{"date-parts":[[2010,7,15]],"date-time":"2010-07-15T12:48:46Z","timestamp":1279198126000},"page":"1-10","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":50,"title":["Terrain-adaptive bipedal locomotion control"],"prefix":"10.1145","volume":"29","author":[{"given":"Jia-chi","family":"Wu","sequence":"first","affiliation":[{"name":"University of Washington"}]},{"given":"Zoran","family":"Popovi\u0107","sequence":"additional","affiliation":[{"name":"University of Washington"}]}],"member":"320","published-online":{"date-parts":[[2010,7,26]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"SCA '07: Proceedings of the 2007 ACM SIGGRAPH\/Eurographics symposium on Computer animation, Eurographics Association, 249--258","author":"Abe Y.","unstructured":"Abe , Y. , da Silva , M. , and Popovi\u0107 , J . 2007. Multiobjective control with frictional contacts . In SCA '07: Proceedings of the 2007 ACM SIGGRAPH\/Eurographics symposium on Computer animation, Eurographics Association, 249--258 . Abe, Y., da Silva, M., and Popovi\u0107, J. 2007. Multiobjective control with frictional contacts. In SCA '07: Proceedings of the 2007 ACM SIGGRAPH\/Eurographics symposium on Computer animation, Eurographics Association, 249--258."},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1093\/brain\/105.2.331"},{"key":"e_1_2_2_3_1","unstructured":"Atkeson C. and Morimoto J. 2002. Nonparametric representation of policies and value functions: A trajectory-based approach. In Neural Information Processing Systems 2002.  Atkeson C. and Morimoto J. 2002. Nonparametric representation of policies and value functions: A trajectory-based approach. 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