Controlling Bipedal Locomotion for Computer Animation

Master of Applied Science, 1996

Joseph Laszlo

Department of Electrical and Computer Engineering

University of Toronto

ABSTRACT

Some seemingly simple behaviours such as human walking are difficult to model because of their

inherent instability. This thesis proposes an approach to generating balanced 3D walking motions

for physically-based computer animations by viewing the motions as a sequence of discrete cycles

in state space. First, a mechanism to stabilize open loop walking motions is presented.

Once this

basic "balance" mechanism is in place, the underlying open loop motion can then be modified to

generate variations on the basic walking gait. In addition to other interesting variations, the speed,

stride rate and direction of a walk can each be controlled.

These variations can be parameterized

and potentially used to provide the animated character with the ability to perform autonomous

motions such as following a path specified by the animator. While this work is somewhat specific

to physically-based animation, some of the underlying ideas may prove useful in other disciplines

such as robotics and biomechanics.

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