{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:14:37Z","timestamp":1777655677691,"version":"3.51.4"},"reference-count":29,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2010,7,26]],"date-time":"2010-07-26T00:00:00Z","timestamp":1280102400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2010,7,26]]},"abstract":"<jats:p>We present a control strategy for physically-simulated walking motions that generalizes well across gait parameters, motion styles, character proportions, and a variety of skills. The control is realtime, requires no character-specific or motion-specific tuning, is robust to disturbances, and is simple to compute. The method works by integrating tracking, using proportional-derivative control; foot placement, using an inverted pendulum model; and adjustments for gravity and velocity errors, using Jacobian transpose control. High-level gait parameters allow for forwards-and-backwards walking, various walking speeds, turns, walk-to-stop, idling, and stop-to-walk behaviors. Character proportions and motion styles can be authored interactively, with edits resulting in the instant realization of a suitable controller. The control is further shown to generalize across a variety of walking-related skills, including picking up objects placed at any height, lifting and walking with heavy crates, pushing and pulling crates, stepping over obstacles, ducking under obstacles, and climbing steps.<\/jats:p>","DOI":"10.1145\/1778765.1781156","type":"journal-article","created":{"date-parts":[[2010,7,15]],"date-time":"2010-07-15T12:48:46Z","timestamp":1279198126000},"page":"1-9","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":165,"title":["Generalized biped walking control"],"prefix":"10.1145","volume":"29","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":"Michiel","family":"van de Panne","sequence":"additional","affiliation":[{"name":"University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2010,7,26]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Proc. 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