13

A pose tableis a sequential list of each desired pose and its

pose, and transition information.

transition information.

pose control graphs.

Figure 2.3 illustrates a typical creature which might be controlled using

S4

S2

S3

(a)

DOF

state

right
hip

0
0
-90
-45

right
knee

0
0
90
0

(b)

left
hip

-90
-45
0
0

left
knee

90
0
0
0

transition
info

S1
S2
S3
S4

0.2
0
0.2
0

L

R

While pose control appears similar to keyframing, two distinctions should be emphasized.

First,

the PCG determines the desiredjoint angles, and not the actualjoint angles.

The joints must be

driven toward the desired angles through the use of a low-level control mechanism.

Second, the

poses do not specify the creature's position and orientation with respect to the world frame of

reference. Instead, these are determined by the creature's interaction with its environment.