Locomotion control with inverted pendulum model and hierarchical low-dimensional data

Ku Hyun Han, Byung Ha Park, Kwang Mo Jung, Junghyun Han

Research output: Contribution to journalArticlepeer-review


This paper presents an interactive locomotion controller using motion capture data and an inverted pendulum model (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is integrated into the IPM to determine the pose of the center of mass and the stance-foot position of the character. They are input to the H-GPDM, which interpolates the lowdimensional data to synthesise a redirected motion sequence on an uneven surface. The locomotion controller allows the upper and lower bodies to be independently controlled and helps us generate natural locomotion. It can be used in various real-time applications such as games.

Original languageEnglish
Pages (from-to)2744-2746
Number of pages3
JournalIEICE Transactions on Information and Systems
Issue number11
Publication statusPublished - 2017 Nov

Bibliographical note

Funding Information:
This work was supported by the National Research Foundation of Korea (NRF) Grant funded by the Korea government (No. NRF-2016R1A2B3014319 and NRF-2017M3C4A7066316).

Publisher Copyright:
Copyright © 2017 The Institute of Electronics, Information and Communication Engineers.


  • Character animation
  • Dimensional reduction
  • Interactive controller

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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