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The animation of bipedal locomotion has long been a topic of fascination to many. Zeltzer [Zel82]
presents a hierarchical task-oriented animation system in which the low-level walking motions are
implemented kinematically, based on measured human data. Girard and Maciejewski [GM85] use
rules associated with dynamics (rather than dynamics simulations) for torso motion and inverse
kinematics for leg motion to generate one of the first non-rotoscoped, natural looking walks.
Bruderlin and Calvert [BC89] break each step into a number of kinematically-defined subphases
based on known human gait mechanics and use simplified dynamics simulation to generate the
motion in between each subphase. By allowing the user to vary a number of gait determinants, a
wide variety of natural-looking walks can be generated. Since in this approach, the dynamics are
highly constrained, replacing the dynamic interpolation with kinematic interpolation [BC93] is
found to give results of similar quality while increasing performance significantly, allowing gait
parameters to be adjusted interactively. This work currently represents the state-of-the-art in real-
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![[CONVERTED BY MYRMIDON]](Imgs/convBy.GIF)