NDLI: Animation of dynamic legged locomotion

Content Provider	ACM Digital Library
Author	Raibert, Marc H. Hodgins, Jessica K.
Abstract	This paper is about the use of control algorithms to animate dynamic legged locomotion. Control could free the animator from specifying the details of joint and limb motion while producing both physically realistic and natural looking results. We implemented computer animations of a biped robot, a quadruped robot, and a kangaroo. Each creature was modeled as a linked set of rigid bodies with compliant actuators at its joints. Control algorithms regulated the running speed, organized use of the legs, and maintained balance. All motions were generated by numerically integrating equations of motion derived from the physical models. The resulting behavior included running at various speeds, traveling with several gaits (run, trot, bound, gallop, and hop), jumping, and traversing simple paths. Whereas the use of control permitted a variety of physically realistic animated behavior to be generated with limited human intervention, the process of designing the control algorithms was not automated: the algorithms were "tweaked" and adjusted for each new creature.
Starting Page	349
Ending Page	358
Page Count	10
File Format	PDF
ISSN	00978930
DOI	10.1145/127719.122755
Journal	ACM SIGGRAPH Computer Graphics (COMG)
Volume Number	25
Issue Number	4
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	1988-08-01
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Legged locomotion Dynamical simulation Physically realistic modeling Computer animation Motion control Robotics
Content Type	Text
Resource Type	Article
Subject	Computer Science Computer Graphics and Computer-Aided Design

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