{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T11:08:34Z","timestamp":1768475314571,"version":"3.49.0"},"reference-count":44,"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>This paper introduces an approach to control of physics-based characters based on high-level features of movement, such as center-of-mass, angular momentum, and end-effectors. Objective terms are used to control each feature, and are combined by a prioritization algorithm. We show how locomotion can be expressed in terms of a small number of features that control balance and end-effectors. This approach is used to build controllers for human balancing, standing jump, and walking. These controllers provide numerous benefits: human-like qualities such as arm-swing, heel-off, and hip-shoulder counter-rotation emerge automatically during walking; controllers are robust to changes in body parameters; control parameters and goals may be modified at run-time; control parameters apply to intuitive properties such as center-of-mass height; and controllers may be mapped onto entirely new bipeds with different topology and mass distribution, without modifications to the controller itself. No motion capture or off-line optimization process is used.<\/jats:p>","DOI":"10.1145\/1778765.1781157","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":144,"title":["Feature-based locomotion controllers"],"prefix":"10.1145","volume":"29","author":[{"given":"Martin","family":"de Lasa","sequence":"first","affiliation":[{"name":"University of Toronto"}]},{"given":"Igor","family":"Mordatch","sequence":"additional","affiliation":[{"name":"University of Toronto"}]},{"given":"Aaron","family":"Hertzmann","sequence":"additional","affiliation":[{"name":"University of Toronto"}]}],"member":"320","published-online":{"date-parts":[[2010,7,26]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Proc. SCA, 195--204","author":"Abe Y.","unstructured":"Abe , Y. , and Popovi\u0107 , J . 2006. Interactive Animation of Dynamic Manipulation . In Proc. SCA, 195--204 . Abe, Y., and Popovi\u0107, J. 2006. Interactive Animation of Dynamic Manipulation. In Proc. SCA, 195--204."},{"key":"e_1_2_2_2_1","volume-title":"Proc. SCA, 249--258","author":"Abe Y.","unstructured":"Abe , Y. , da Silva , M. , and Popovi\u0107 , J . 2007. Multiobjective Control with Frictional Contacts . In Proc. SCA, 249--258 . Abe, Y., da Silva, M., and Popovi\u0107, J. 2007. Multiobjective Control with Frictional Contacts. In Proc. SCA, 249--258."},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.02455"},{"key":"e_1_2_2_4_1","volume-title":"Int. Conf. Robotics and Automation, 2762--2767","author":"Azevedo C.","unstructured":"Azevedo , C. , Poignet , P. , and Espiau , B . 2002. Moving horizon control for biped robots without reference trajectory . In Int. Conf. Robotics and Automation, 2762--2767 . Azevedo, C., Poignet, P., and Espiau, B. 2002. Moving horizon control for biped robots without reference trajectory. In Int. Conf. Robotics and Automation, 2762--2767."},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-004-0244-4"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/192161.192168"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/1360612.1360681"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2008.01134.x"},{"key":"e_1_2_2_9_1","volume-title":"Proc. IROS.","author":"de Lasa M.","unstructured":"de Lasa , M. , and Hertzmann , A . 2009. Prioritized Optimization for Task-Space Control . In Proc. IROS. de Lasa, M., and Hertzmann, A. 2009. Prioritized Optimization for Task-Space Control. In Proc. IROS."},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/383259.383287"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/882262.882286"},{"key":"e_1_2_2_12_1","volume-title":"Rigid Body Dynamics Algorithms","author":"Featherstone R.","unstructured":"Featherstone , R. 2008. Rigid Body Dynamics Algorithms . Springer-Verlag . Featherstone, R. 2008. Rigid Body Dynamics Algorithms. Springer-Verlag."},{"key":"e_1_2_2_13_1","volume-title":"Int. Conf. Robotics and Automation","author":"Fujimoto Y.","unstructured":"Fujimoto , Y. , Obata , S. , and Kawamura , A . 1998. Robust biped walking with active interaction control between foot and ground . In Int. Conf. Robotics and Automation , 2030--2035. Fujimoto, Y., Obata, S., and Kawamura, A. 1998. Robust biped walking with active interaction control between foot and ground. In Int. Conf. Robotics and Automation, 2030--2035."},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/882262.882358"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.008573"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/258734.258822"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/218380.218414"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060203"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/1477926.1477936"},{"key":"e_1_2_2_20_1","volume-title":"Int. Conf. Robotics and Automation, 724--729","author":"Kanoun O.","unstructured":"Kanoun , O. , Lamiraux , F. , Wieber , P.-B. , Kanehiro , F. , Yoshida , E. , and Laumond , J . -P. 2009. Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots . In Int. Conf. Robotics and Automation, 724--729 . Kanoun, O., Lamiraux, F., Wieber, P.-B., Kanehiro, F., Yoshida, E., and Laumond, J.-P. 2009. Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots. In Int. Conf. Robotics and Automation, 724--729."},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"e_1_2_2_22_1","volume-title":"Int. Conf. Robotics and Automation, 2661--2666","author":"Kudoh S.","unstructured":"Kudoh , S. , Komura , T. , and Ikeuchi , K . 2006. Stepping Motion for a Human-like Character to Maintain Balance against Large Perturbations . In Int. Conf. Robotics and Automation, 2661--2666 . Kudoh, S., Komura, T., and Ikeuchi, K. 2006. Stepping Motion for a Human-like Character to Maintain Balance against Large Perturbations. In Int. Conf. Robotics and Automation, 2661--2666."},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237231"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1977.4309644"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/1531326.1531386"},{"key":"e_1_2_2_26_1","volume-title":"Int. Conf. Robotics and Automation, 3359--3364","author":"Mansard N.","unstructured":"Mansard , N. , and Khatib , O . 2008. Continuous control law from unilateral constraints . In Int. Conf. Robotics and Automation, 3359--3364 . Mansard, N., and Khatib, O. 2008. Continuous control law from unilateral constraints. In Int. Conf. Robotics and Automation, 3359--3364."},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00158-003-0368-6"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/1778765.1778808"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/1531326.1531387"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600201"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091463"},{"key":"e_1_2_2_32_1","volume-title":"Int. Conf. on Robotics and Intelligent Systems.","author":"Orin D.","unstructured":"Orin , D. , and Goswami , A . 2008. Centroidal Momentum Matrix of a Humanoid Robot: Structure and Propreties . In Int. Conf. on Robotics and Intelligent Systems. Orin, D., and Goswami, A. 2008. Centroidal Momentum Matrix of a Humanoid Robot: Structure and Propreties. In Int. Conf. on Robotics and Intelligent Systems."},{"key":"e_1_2_2_33_1","volume-title":"Int. Conf. Robotics and Automation.","author":"Popovic M.","unstructured":"Popovic , M. , Hofmann , A. , and Herr , H . 2004. Angular Momentum Regulation during Human Walking: Biomechanics and Control . In Int. Conf. Robotics and Automation. Popovic, M., Hofmann, A., and Herr, H. 2004. Angular Momentum Regulation during Human Walking: Biomechanics and Control. In Int. Conf. Robotics and Automation."},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00230842"},{"key":"e_1_2_2_35_1","doi-asserted-by":"crossref","unstructured":"Pratt J. Chew C.-M. Torres A. Dilworth P. and Pratt G. 2001. Virtual Model Control: An intuitive approach for bipedal locomotion. Int. J. Robotics Research.  Pratt J. Chew C.-M. Torres A. Dilworth P. and Pratt G. 2001. Virtual Model Control: An intuitive approach for bipedal locomotion. Int. J. Robotics Research.","DOI":"10.1177\/02783640122067309"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/127719.122755"},{"key":"e_1_2_2_38_1","volume-title":"Synthesis of Controllers for Stylized Planar Bipedal Walking. In Int. Conf. Robotics and Automation, 2387--2392","author":"Sharon D.","unstructured":"Sharon , D. , and van de Panne, M. 2005 . Synthesis of Controllers for Stylized Planar Bipedal Walking. In Int. Conf. Robotics and Automation, 2387--2392 . Sharon, D., and van de Panne, M. 2005. Synthesis of Controllers for Stylized Planar Bipedal Walking. In Int. Conf. Robotics and Automation, 2387--2392."},{"key":"e_1_2_2_39_1","volume-title":"Int. Conf. on Robotics and Intelligent Systems, 3762--3768","author":"Shkolnik A.","unstructured":"Shkolnik , A. , and Tedrake , R . 2008. High-Dimensional Underactuated Motion Planning via Task Space Control . Int. Conf. on Robotics and Intelligent Systems, 3762--3768 . Shkolnik, A., and Tedrake, R. 2008. High-Dimensional Underactuated Motion Planning via Task Space Control. Int. Conf. on Robotics and Intelligent Systems, 3762--3768."},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276511"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1038\/nn963"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/1618452.1618514"},{"key":"e_1_2_2_43_1","volume-title":"Biomechanics and Motor Control of Human Movement","author":"Winter D. A.","unstructured":"Winter , D. A. 2004. Biomechanics and Motor Control of Human Movement , 3 rd ed. Wiley . Winter, D. A. 2004. Biomechanics and Motor Control of Human Movement, 3rd ed. Wiley.","edition":"3"},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276509"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/545261.545276"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1778765.1781157","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1778765.1781157","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T11:39:47Z","timestamp":1750246787000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1778765.1781157"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,7,26]]},"references-count":44,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2010,7,26]]}},"alternative-id":["10.1145\/1778765.1781157"],"URL":"https:\/\/doi.org\/10.1145\/1778765.1781157","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,7,26]]},"assertion":[{"value":"2010-07-26","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}