Animating Human Locomotion ShangLin Chen Introduction l l

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Animating Human Locomotion Shang-Lin Chen

Animating Human Locomotion Shang-Lin Chen

Introduction l l Animate human figure on flat solid surface. Has legs, knees, torso,

Introduction l l Animate human figure on flat solid surface. Has legs, knees, torso, arms, head, hips. Mainly use inverse kinematics with some forward dynamics. Essential element of walking: leg motion

Front View

Front View

Side View

Side View

States

States

State 1 – Lift Right Leg

State 1 – Lift Right Leg

State 1

State 1

State 1

State 1

State 1 l l When sin ζ = 0, J-1 becomes singular. Avoid singularity

State 1 l l When sin ζ = 0, J-1 becomes singular. Avoid singularity by assigning predetermined values to Δθ and Δζ. No singularity – Use regular inverse kinematics. Get frame-by-frame angle increments.

State 2 l Left leg leans forward, right leg steps forward. l Initial position

State 2 l Left leg leans forward, right leg steps forward. l Initial position same as final position of State 1.

State 2 – Intermediate Position

State 2 – Intermediate Position

State 2 – Final Position

State 2 – Final Position

State 2 - Math l l Tip of left leg serves as pivot. Coefficients

State 2 - Math l l Tip of left leg serves as pivot. Coefficients determined from forward dynamics – moment of inertia.

State 2 - Math

State 2 - Math

State 3 l l Straighten right leg. Pull left leg forward.

State 3 l l Straighten right leg. Pull left leg forward.

State 3

State 3

State 3 - Math l l Inverse kinematics similar to State 2. Method of

State 3 - Math l l Inverse kinematics similar to State 2. Method of avoiding singularities also similar to State 2.

l l l States 4 -6 are mirror images of States 1 -3. Once

l l l States 4 -6 are mirror images of States 1 -3. Once leg motion done, add on torso, head, and arms. Change posture for aesthetics.

Implementation l l C++, Open. GL, GLUT Start in State 0, loop continuously through

Implementation l l C++, Open. GL, GLUT Start in State 0, loop continuously through other states. Code math equations for each state. Inputs: θmax, step size, leg length.

Other Methods l Forward and inverse dynamics – – l Needs physics and biomechanics.

Other Methods l Forward and inverse dynamics – – l Needs physics and biomechanics. More realistic but much more complex. Motion capture – – Subject wears sensors to capture motion data. Or build physical model.

l AVI movie (backup)

l AVI movie (backup)

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