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Generation of Adaptive Walking Motion for Uneven Terrain  

송미영 (동국대학교 컴퓨터공학과)
조형제 (동국대학교 컴퓨터멀티미디어공학과)
Publication Information
Journal of KIISE:Software and Applications / v.30, no.11, 2003 , pp. 1092-1101 More about this Journal
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.
Keywords
walking motion; moving trajectory; inverse kinematics; cubic spline;
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