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Accelerometer-based User Interfaces for the Control of a Physically Simulated Character - page 21 / 41

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Consists of 4 contact states with PD controller.

Running Controller

Front swing leg

contacts ground.

Support foot

passes

under hip.

Support leg

leaves ground.

Vertical hip

velocity

less than zero.

Upward

Flight

Downward

Flight

Extension

Compression

[Raibert and Hodgins, 1991]

Jumping controller: both legs in phase.

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