Lee, SukwonChoi, HyunchulJin, TaeilLee, Sung-HeeFlorence Bertails-Descoubes and Stelian Coros and Shinjiro Sueda2016-01-192016-01-192015978-1-4503-3496-9https://doi.org/10.1145/2786784.2795144We introduce a trajectory-free reactive stepping controller using momentum control. The controller is characterized by moving passively in the direction of external pushes without attempting to follow some prescribed trajectory, thereby achieving a natural reactive stepping behavior adaptive to various perturbations.Trajectory-Free Reactive Stepping of Physics-based Character Using Momentum Control10.1145/2786784.2795144202-202