ABSTRACT
This paper presents a hybrid approach to the animation of human locomotion which combines goal-directed and dynamic motion control. Knowledge about a locomotion cycle is incorporated into a hierarchical control process. The desired locomotion is conveniently specified at the top level as a task (e.g. walk at speed v), which is then decomposed by application of the concepts of step symmetry and state-phase-timings. As a result of this decomposition, the forces and torques that drive the dynamic model of the legs are determined by numerical approximation techniques. Rather than relying on a general dynamic model, the equations of motion of the legs are tailored to locomotion and analytically constrained to allow for only a specific range of movements. The dynamics of the legs produce a generic, natural locomotion pattern which is visually upgraded by some kinematic "cosmetics" derived from such principles as virtual leg and determinants of gait. A system has been implemented based on these principles and has shown that when a few parameters, such as velocity, step length and step frequency are specified, a wide variety of human walks can be generated in almost real-time.
- 1.William W. Armstrong, Mark Green. The Dynamics of Articulated Rigid Bodies for Purposes of Animation. Graphics Interface '85, Proceedings, 1985, pp. 407-415.]]Google Scholar
- 2.Norman I. Badler, Kamran H. Manoocherhri, Graham Waiters. "Articulated Figure Positioning by Multiple Constraints". IEEE Computer Graphics and Applications 7, 6 (June 1987), 28-38.]] Google ScholarDigital Library
- 3.Ronen Barzel, Alan H. Barr. A Modeling System Based On Dynamic Constraints. SIGGRAPH '88, Proceedings, August, 1988, pp. 179-188.]] Google ScholarDigital Library
- 4.Royce Beckett, Kumg Chang. "An Evaluation of the Kinematics of Gait by Minimum Energy". J. Biomechanics 1 (1968), 147-159.]]Google ScholarCross Ref
- 5.Armin Bruderlin. Goal-Directed, Dynamic Animation of Bipedal Locomotion. Master Th., School of Computing Science, Simon Fraser University,1988.]]Google Scholar
- 6.Richard L. Burden. Numerical Analysis. Prindle, Weber & Schmidt, 1985.]]Google Scholar
- 7.Thomas W. Calvert. The Challenge of Human Fi~gure Animation. Graphics Interface '88, Proceedings, 1988, pp. 203-210.]] Google ScholarDigital Library
- 8.Michael Girard, Anthony A. Maciejewski. Computational Modeling for the Computer Animation of Legged Figures. ACM SIGGRAPH '85, Proceedings, July, 1985, pp. 263-270.]] Google ScholarDigital Library
- 9.Alan C. Hindmarsh. "LSODE and LSODI, Two New Initial Value Ordinary Differential Equation Solvers". ACM-SIGNUM Newsletter 15, 4 (1980), 10-11.]] Google ScholarDigital Library
- 10.Veme T. Inman, Henry J. Ralston, Frank Todd. Human Walking. Williams & Wilkins, Baltimore, 1981.]]Google Scholar
- 11.Paul M. Isaacs, Michael F. Cohen. "Controlling Dynamic Simulation with Kinematic Constraints, Behavior Functions and Inverse Dynamics". Computer Graphics 21, 4 (July 1987), 215-224.]] Google ScholarDigital Library
- 12.Marc H. Raibert. "Legged Robots". Communications of the ACM 29, 6 (1986), 499-514.]] Google ScholarDigital Library
- 13.David Sturman. Interactive Keyframe Animation of 3-D Articulated Models. Graphics Interface '86, Tutorial on Computer Animation, 1986.]]Google Scholar
- 14.Dare A. Wells. Theory and Problems of Lagrangian Dynamics. McGraw-Hill, New York, 1967.]]Google Scholar
- 15.Jane Wilhelms. Virya- A Motion Control Editor for Kinematic and Dynamic Aniamtion. Graphics Interface '86, Proceedings, 1986, pp. 141-146.]] Google ScholarDigital Library
- 16.David Zeltzer. "Motor Control Techniques for Figure Animation". IEEE Computer Graphics and Applications 2, 9 (1982), 53-59.]]Google ScholarDigital Library
- 17.David Zeltzer. Knowtedge-BasedAnimation. ACM SIGGRAPH/SIGART, Workshop on Motion, 1983, pp. 187-192.]] Google ScholarDigital Library
Index Terms
- Goal-directed, dynamic animation of human walking
Recommendations
Goal-directed, dynamic animation of human walking
Special issue: Proceedings of the 1989 ACM SIGGRAPH conferenceThis paper presents a hybrid approach to the animation of human locomotion which combines goal-directed and dynamic motion control. Knowledge about a locomotion cycle is incorporated into a hierarchical control process. The desired locomotion is ...
Animation of Human Walking in Virtual Environments
CA '99: Proceedings of the Computer AnimationThis paper presents an interactive hierarchical motion control system dedicated to the animation of human figure locomotion in virtual environments. As observed in gait experiments, controlling the trajectories of the feet during gait is a precise end-...
The simplest passive dynamic walking model with toed feet: A parametric study
This paper presents a passive dynamic walking model with toed feet that can walk down a gentle slope under the action of gravity alone. The model is the simplest of its kind with a point mass at the hip and two rigid legs each hinged at the hip on the ...
Comments