This is very exciting. We also tried something like this a while ago, but pure physics based without ‘helper’ forces to keep the biped upright.
In the method above there are such ‘helper’ forces to keep the biped upright I think.
We constructed an active ragdoll, i.e. only rigid bodies and joints. The joints have motors to move the rigid bodies.
Then every single movement is caused by those joint motors. No helper forces or anything else. A UE4 walking robots so to say. Terribly difficult to get right.
Here is what we did with biped walking.
http:///r-c-bot-inc-tech/bbs-test-projects/
This here seems pure physics based, i.e. no any helper forces or animation blending, but only rigid bodies and joint. We always found this quite impressive.
