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Figure 1 : Real-time physics-based character simulation with our framework. (a) A single controller for a planar biped responds to unanticipated changes in terrain. (b) A walk controller reconstructed from motion capture data responds to a 350N, 0.2s diagonal push to the torso. Abstract Physics-based simulation and control of biped locomotion is difficult because bipeds are unstable, underactuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used todoi:10.1145/1239451.1239556 fatcat:g4vktxexmzgynfurlkyt3o6mvu