Analysis of Robustness in Biped Locomotion Controllers

Abstract

Character locomotion analysis in physics-based simulation remains a challenging problem in the field of computer animation. Locomotion is a fundamental skill, yet generating robust and natural motion is challenging. This has led to the development of various locomotion controllers. Robustness, defined as responsiveness to external perturbations and environmental changes, is a fundamental requirement in locomotion control. However, a lack of objective and systematic comparisons is evident in existing controllers. In this article, we propose a benchmark framework for evaluating and comparing the robustness of locomotion controllers using multiple criteria. In order to assess the responsiveness of the controller, external perturbations are applied to a simulated biped character at different gait phases. This analysis offers insights into the behavior of controllers, highlights the limitations of existing approaches, and motivates a novel controller called MMIPM-RL.