1. Sentence: This paper introduces a locomotion controller for full-body 3D physics-based characters that plans joint torques by optimizing a low dimensional physical model (1st sentence, 2nd paragraph).
2. Problem: Existing locomotion models are gait specific and do not plan control over multiple foot-steps.
3. Key Idea: At each instant of the simulation an optimized plan is produced for the motion over the subsequent 2 foot steps satisfying user goals. The plan is then used to create the full body joint torques.
4a. What the paper does: The motion controllers developed can traverse challenging terrain and withstand large external disturbances while automatically transitioning through gaits and following high-level user commands at interactive rates.
4b. What it could be used for: For generating robust locomotion control of physically simulated characters over any terrain in an efficient manner.
5. Resources: Video, presentation on the paper’s web-page.