thesis.final.w6

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Double-stance- The phase of a walk during which both feet are in contact with the ground.

Figure A-4 shows the phases of a bipedal walk.

Single-stance- The phase of a walk or run during which only one foot is in contact with

the ground. See Figure A-4.

Single support

Right foot
contact

Left foot
contact

IMAGE Imgs/thesis.final.w6194.gif

Right foot
contact

Left foot
contact

time

Double support

(a)

(b)

Figure A-4 - Phases of bipedal walking and running. Solid lines
indicate the times that the associated foot is in contact
with the ground.
(a) walking
(b) running

Computer Animation

Motion capture- A technique, used to animate computer generated characters, in which the

motion of the animated character is taken from a real world source such as a person

walking.

Modern forms of motion capture typically use markers attached to the

subject's body which are tracked by a sensing device (e.g. an IR camera).

Rotoscoping- A form of motion capture in which motion data is taken from pre-recorded

live images such as film or video.

Thesis Related

Pose Control Graph (PCG)- A type of finite state machine which specifies a set of

desired poses over time. Each desired pose specifies a set of desired joint angles for

the articulated figure being animated.