supplemental material for eneralizing locomotion style to...
TRANSCRIPT
Supplemental Material forGeneralizing Locomotion Style to New Animals With Inverse Optimal Regression
Kevin Wampler∗
Adobe ResearchZoran Popovic†
University of WashingtonJovan Popovic‡
Adobe Research
1 Parameter Plots
The following plots compare the quadruped inverse parametersfound by independent and joint inverse optimization for all of theparameters listed in table 1.
2
4
6
8
100 101 102 103 104
2
4
6
8
independent
joint
mi
hg
hg
01234567
100 101 102 103 104
01234567
independent
joint
mi
wg
wg
∗e-mail:[email protected]†e-mail:[email protected]‡e-mail:[email protected]
012345
100 101 102 103 104
012345
independent
joint
mi
wv
wv
0.00.10.20.30.40.5
100 101 102 103 104
0.00.10.20.30.40.5
independent
joint
mi
hw
hw
0246810
100 101 102 103 104
0246810
independent
joint
mi
dw
dw
012345
100 101 102 103 104
012345
independent
joint
mi
cl
cl
1.01.52.02.53.03.54.0
100 101 102 103 104
1.01.52.02.53.03.54.0
independent
joint
mi
rl
rl
012345
100 101 102 103 104
012345
independent
joint
mi
ca
ca
0.00.51.01.52.02.5
100 101 102 103 104
0.00.51.01.52.02.5
independent
joint
mi
ra
ra
1234567
100 101 102 103 104
1234567
independent
joint
mi
th
th
234567
100 101 102 103 104
234567
independent
joint
mi
tk
tk
123456
100 101 102 103 104
123456
independent
joint
mi
ta
ta
0123456
100 101 102 103 104
0123456
independent
joint
mi
ts
ts
012345
100 101 102 103 104
012345
independent
joint
mi
te
te
01234567
100 101 102 103 104
01234567
independent
joint
mi
tw
tw
0
2
4
6
8
100 101 102 103 104
0
2
4
6
8
independent
joint
mi
wf
wf
0.00.10.20.30.40.5
100 101 102 103 104
0.00.10.20.30.40.5
independent
joint
mi
wa
wa
3.54.04.55.05.56.06.57.0
100 101 102 103 104
3.54.04.55.05.56.06.57.0
independent
joint
mi
wh
wh
0123456
100 101 102 103 104
0123456
independent
joint
mi
kh
kh
−1.5−1.0−0.50.00.51.01.5
100 101 102 103 104
−1.5−1.0−0.50.00.51.01.5
independent
joint
mi
qh
qh
1234567
100 101 102 103 104
1234567
independent
joint
mi
dh
dh
0.51.01.52.02.53.03.54.0
100 101 102 103 104
0
1
2
3
4
independent
joint
mi
kk
kk
−1.5−1.0−0.50.00.51.0
100 101 102 103 104
−1.5−1.0−0.50.00.51.0
independent
joint
mi
qk
qk
01234567
100 101 102 103 104
01234567
independent
joint
mi
dk
dk
0
2
4
6
8
100 101 102 103 1040
2
4
6
8
independent
joint
mi
ka
ka
−1.0
−0.5
0.0
0.5
1.0
100 101 102 103 104
−1.5−1.0−0.50.00.51.0
independent
joint
mi
qa
qa
23456789
100 101 102 103 104
23456789
independent
joint
mi
da
da
1
2
3
4
5
100 101 102 103 104
1
2
3
4
5
independent
joint
mi
ks
ks
−1.5−1.0−0.50.00.51.01.5
100 101 102 103 104
−1.5−1.0−0.50.00.51.01.5
independent
joint
mi
qs
qs
0.51.01.52.02.53.03.5
100 101 102 103 104
0.51.01.52.02.53.03.5
independent
joint
mi
ds
ds
123456
100 101 102 103 104
123456
independent
joint
mi
ke
ke
0.00.20.40.60.81.01.21.4
100 101 102 103 104
0.00.20.40.60.81.01.21.4
independent
joint
mi
qe
qe
1234567
100 101 102 103 104
1234567
independent
joint
mi
de
de
2345678
100 101 102 103 104
12345678
independent
joint
mi
kw
kw
−1.0−0.50.00.51.01.5
100 101 102 103 104
−1.0−0.50.00.51.01.5
independent
joint
mi
qw
qw
12345678
100 101 102 103 104
12345678
independent
joint
mi
dw
dw
Figure 1: From top left to bottom right: plots of the hip angle, knee angle, ankle angle, and foot height over the frames in gaits for an ostrich.
Figure 2: From top left to bottom right: plots of the hip angle, knee angle, ankle angle, and foot height over the frames in gaits for aThomson’s gazelle.
Figure 3: From top left to bottom right: plots of the hip angle, knee angle, ankle angle, and foot height over the frames in gaits for anelephant.
Figure 4: From top left to bottom right: plots of the hip angle, knee angle, ankle angle, and foot height over the frames in gaits for a giraffe.