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LIST OF FIGURES

Figure 2.1 - Animator control vs autonomy ...............................................................9

Figure 2.2 - A periodic PCG for a simple, planar 4 DOF biped model .............................. 13

Figure 2.3 - Typical articulated creature model used with pose control graphs ..................... 14

Figure 2.4 - Rotational PD controller for pose control ................................................. 14

Figure 2.5 - Pose control graph structures............................................................... 15

Figure 2.6 - Overview of the simulation process ....................................................... 17

Figure 2.7 - Spring and damper ground force model (2D example).................................. 19

Figure 2.8 - Friction cone ground slip model ........................................................... 20

Figure 2.9 - Complex human model...................................................................... 21

Figure 2.10 - Robo-bird creature ......................................................................... 22

Figure 3.1 - Passive Limit Cycle Stability ............................................................... 24

Figure 3.2 - An Active Limit Cycle....................................................................... 25

Figure 3.3 - Discrete System .............................................................................. 27

Figure 3.4 - Linear parameters of a 1D discrete system in state space................................ 29

Figure 3.5 - Three cycles of a typical 1-dimensional system .......................................... 30

Figure 3.6 - Overall discrete limit cycle control structure for a walking biped ...................... 32

Figure 3.7 - Forward walking base PCG................................................................ 34

Figure 3.8 - Unbalanced motion of human model ...................................................... 35

Figure 3.9 - Possible walking and running steps ....................................................... 36

Figure 3.10 - Initial configuration for simple human model........................................... 37

Figure 3.11 - End-of-step sampling times for Qi........................................................ 38

Figure 3.12 - Balance RV vectors ........................................................................ 39

Figure 3.13 - Decomposition of up vector projection into RVs ....................................... 40


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[CONVERTED BY MYRMIDON]