Please see the thesis page for details.
| Walking: original (left), extracted modes (right) | ||
| Breakdance: original (left), extracted modes (right) | ||
| Inverse kinematics and pose DOFs: 40 DOFs (left), 12 DOFs (right) | ||
| IK tracking with 3 end-effector constraints: Center of Mass + feet (left); CoM trajectory edition (right). The arm motion is correlated with the feet's. | ||
| Linear (orange) and Angular (blue) momentum plots using an Euclidean integrator (left) and an Lie group integrator (right) | ||
| Character falling down an inclined plane, comparison between an Euclidean integrator (left) and a Lie group integrator (right) | ||
| Reduced dimension character control: with external forces (left) and without (right). | ||
| Articulation limits: without (left) and with (right) |
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