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Content Provider | ACM Digital Library |
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Author | Popović, Zoran Wampler, Kevin |
Abstract | We present a fully automatic method for generating gaits and morphologies for legged animal locomotion. Given a specific animal's shape we can determine an efficient gait with which it can move. Similarly, we can also adapt the animal's morphology to be optimal for a specific locomotion task. We show that determining such gaits is possible without the need to specify a good initial motion, and without manually restricting the allowed gaits of each animal. Our approach is based on a hybrid optimization method which combines an efficient derivative-aware spacetime constraints optimization with a derivative-free approach able to find non-local solutions in high-dimensional discontinuous spaces. We demonstrate the effectiveness of this approach by synthesizing dynamic locomotions of bipeds, a quadruped, and an imaginary five-legged creature. |
Starting Page | 1 |
Ending Page | 8 |
Page Count | 8 |
File Format | PDF MP4 |
ISBN | 9781605587264 |
DOI | 10.1145/1576246.1531366 |
Language | English |
Publisher | Association for Computing Machinery (ACM) |
Publisher Date | 2009-07-27 |
Publisher Place | New York |
Access Restriction | Subscribed |
Subject Keyword | Gait Spacetime optimization Animation Character dynamics |
Content Type | Audio Text |
Resource Type | Article |
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