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This paper proposes a multi-objective, highly generalized and efficient control framework for a virtual character performing various physical interactions in a dynamically simulated world. The framework comprises 1) a generalized inverse dynamics that determines joint forces satisfying multiple objectives considering priorities, unactuated joints and inequality constraints about contacts, 2) a generalized...
We present a three level architecture for humanoid robot navigation. The perception layer creates a 2D environment model from range data and foot step information and classifies areas into one of six different types. The control layer is organized into behavior modules each representing different motion capabilities of the robot. Based on the environment classification, a suitable sequence of actions...
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