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| GI'98 Online Papers |
Footprint-based Quadruped Motion Synthesis
Abstract
This paper applies trajectory-based optimization techniques
to the synthesis of quadruped motions. The animator specifies
hard constraints, consisting of footprint locations and their
timings, and soft constraints that encode both physically-plausible
behavior and the notion of comfortable positions. By dealing
first and foremost with the spline trajectories representing
the gross motion of the quadruped,
the resulting optimization problem can be solved efficiently and
robustly. Results include walking, jumping, and galloping quadrupeds.
The Paper
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