Data-driven biped control

Yoonsang Lee, Sungeun Kim, Jehee Lee

Research output: Contribution to journalArticle

90 Scopus citations


We present a dynamic controller to physically simulate underactuated three-dimensional full-body biped locomotion. Our datadriven controller takes motion capture reference data to reproduce realistic human locomotion through realtime physically based simulation. The key idea is modulating the reference trajectory continuously and seamlessly such that even a simple dynamic tracking controller can follow the reference trajectory while maintaining its balance. In our framework, biped control can be facilitated by a large array of existing data-driven animation techniques because our controller can take a stream of reference data generated on-thefly at runtime. We demonstrate the effectiveness of our approach through examples that allow bipeds to turn, spin, and walk while steering its direction interactively.

Original languageEnglish
Article number129
JournalACM Transactions on Graphics
Issue number4
StatePublished - 2010 Sep 13



  • Bipedal locomotion
  • Character animation
  • Data-driven control
  • Motion capture
  • Physically based animation

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