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. Author manuscript; available in PMC: 2015 Aug 4.
Published in final edited form as: ACM Trans Graph. 2012 Jul;31(4):25. doi: 10.1145/2185520.2185521

Figure 6.

Figure 6

Comparison between walking controllers with speeds near 1.0 m/s. The shaded areas represent one standard deviation of the ground truth human data at 1.0 m/s. The hand-tuned SIMBICON-style controller [Coros et al. 2009] matches joint angle data relatively well, but lacks hip extension and relies primarily on hip torques. The robust feature-based controller [Mordatch et al. 2010] walks in a crouch and uses large knee torques. A controller optimized for human-like torque distributions [Wang et al. 2010] fails to generate human-like joint angles and torques. Our result (swalk in Table 1), optimized with a target velocity of 1.0 m/s, best matches human data.