ABSTRACT We present a system that allows non‐programmers to create generic controllers for physically simulated characters. The core of our system is based on a directed acyclic graph of trajectory transformations, which can be modified by feedback terms and serve as reference motions tracked by the physically simulated character. We then introduce tools to enable the automatic creation of robust and parameterized controllers suitable for running in real‐time applications, such as in computer games. The entire process is accomplished by means of a graphical user interface, and we demonstrate how our system can be intuitively used to design a SIMBICON‐like walking controller and a parameterized jump controller to be used in real‐time simulations. Copyright © 2013 John Wiley & Sons, Ltd.

This paper presents a multi-skill motion planner which is able to sequentially synchronize parameterized motion skills in order to achieve humanoid motions exhibiting complex whole-body coordination. The proposed approach integrates sampling-based motion planning in continuous parametric spaces with discrete search over skill choices, selecting the search strategy according to the functional type of each skill being coordinated. As a result, the planner is able to sequence arbitrary motion skills (such as reaching, balance adjustment, stepping, etc) in order to achieve complex motions needed for solving humanoid reaching tasks in realistic environments. The proposed framework is applied to the HOAP-3 humanoid robot and several results are presented.