Ranger Walk - dumb controller - annotated

A short simulation of the Cornell Ranger, taking a few steps using a very simplistic walking controller.
This video is slightly longer than the original, and shows that the controller is actually not stable: it falls down after traveling about 8 meters. The green lines show the contact forces on the feet, and the circles show the fact that the feet are actually sections of circles, and have rolling contact.
I wrote the simulation code and control algorithm from scratch in Java, as part of a Cornell class in physically-based animation.