98

A

models generated should be sufficiently large to span a reasonable domain of initial states.

general model like this could incorporate varying terrain or other environmental state information

in order to allow a wide range of behaviours.

6. 1. 2

Additional Forms of Locomotion

A number of features need to be added to the system for it to be truly useful as a generic biped

animation system.

First, other common forms of bipedal locomotion such as skipping and

hopping would be necessary, as well as transitions between the various types of gaits.

A second

desirable feature not yet explored is the ability to generate robust locomotion over varying terrain.

Finally, it should be possible to parameterize a controller with respect to various model properties

such as mass and dimensions. We believe that it is possible to implement such features within the

proposed control structure.

6. 1. 3

Natural Motion

The motions obtained to date using our technique do not yet represent convincing human motion.

This is primarily due to the use of simple base PCGs.

One possible way to achieve more natural

motion might be to fine tune a suitable open-loop motion based on motion capture data.

While we

are convinced that more natural looking motion can be attained with a reasonable amount of extra

effort, this remains to be demonstrated.

6. 1. 4

Extension to Aperiodic Motions and Further Generalization

While this thesis has focused on cyclic motions, a

similar

approach

might

be

suitable

for

or

controlling aperiodic motions.

Such

motions

would

include

standing

up,

sitting

down

throwing a ball at a target. Other useful acyclic motions might include transitions into and out of

cyclic motion and dynamic balancing in place, stepping only when necessary.

A unified control

technique for both periodic and aperiodic motions would be quite useful, since animators typically

require the ability to freely move between the two as needed.