Journal of KIISE:Software and Applications (한국정보과학회논문지:소프트웨어및응용)

Korean Institute of Information Scientists and Engineers (한국정보과학회)
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Generation of Adaptive Walking Motion for Uneven Terrain

다양한 지형에서의 적응적인 걷기 동작 생성

  • 송미영 (동국대학교 컴퓨터공학과) ;
  • 조형제 (동국대학교 컴퓨터멀티미디어공학과)
  • Published : 2003.12.01
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Abstract

Most of 3D character animation adjusts the gait of their characters for various terrains, using motion capture data through the motion capture equipments. This motion capture data can be naturally presented as real human motions, which are to be adjusted according to the various types of terrain. In addition, there would be a difficulty applying motion capture data for other characters in which the motion data will be captured again or edited for the existing motion data. Therefore, this paper proposes a method that is to generate walking motion for various terrains, such as flat, inclined plane, stair, and irregular face, and a method that is to calculate the trajectory of the swing leg and pelvis. These methods are able to generate various gaits controlled by the parameters of body height, walking speed, stride, etc. In addition, the positions and angles of joint can be calculated by using inverse kinematics, and the cubic spline will be used to calculate the trajectory of the joint.

대부분의 3차원 캐릭터 애니메이션에서는 모션 캡쳐 장비를 통해서 포착된 동작 데이타를 이용하여 다양한 지형상에서 캐릭터가 걷는 동작을 표현한다. 이러한 동작 포착 데이타는 실제 사람과 같이 움직이는 동작들을 자연스럽게 표현할 수 있으나, 만약 다양한 지형에 대한 움직이는 동작이 표현할 경우, 지형의 유형에 따라 모든 동작을 캡쳐하여야 하고, 얻어진 동작 데이타를 다른 유형의 캐릭터에 적용할 경우 동작 데이타를 다시 얻거나 기존 동작 데이타를 재편집해야 하는 어려움이 있다. 따라서 본 연구에서는 적은 매개변수들을 사용하여 평지면, 경사면, 계단면 그리고 굴곡면 등 다양한 지형에서의 적응적인 걷는 동작을 생성하기 위한 방법과 골반과 이동하는 다리의 움직임 제적을 산출하는 방법을 제안한다. 이 방법에서는 캐릭터의 신장이나 걷는 속도, 걸음폭 등의 매개변수들을 조절하여 다양한 걸음걸이를 생성할 수 있으며 역운동학(Inverse Kinematics) 개념을 적용하여 관절들의 위치나 각도를 산출하고 관절의 이동 궤적을 계산하기 위해 큐빅 스플라인 곡선을 활용한다.

Keywords

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