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|Title:||Real-time biped character stepping|
|Abstract:||A rudimentary biped activity that is essential in interactive evirtual worlds, such as video-games and training simulations, is stepping. For example, stepping is fundamental in everyday terrestrial activities that include walking and balance recovery. Therefore an eﬀective 3D stepping control algorithm that is computationally fast and easy to implement is extremely valuable and important to character animation research. This thesis focuses on generating real-time controllable stepping motions on-the-ﬂy without key-framed data that are responsive and robust (e.g.,can remain upright and balanced under a variety of conditions, such as pushes and dynami- cally changing terrain). In our approach, we control the character’s direction and speed by means of varying the stepposition and duration. Our lightweight stepping model is used to create coordinated full-body motions, which produce directable steps to guide the character with speciﬁc goals (e.g., following a particular path while placing feet at viable locations). We also create protective steps in response to random disturbances (e.g., pushes). Whereby, the system automatically calculates where and when to place the foot to remedy the disruption. In conclusion, the inverted pendulum has a number of limitations that we address and resolve to produce an improved lightweight technique that provides better control and stability using approximate feature enhancements, for instance, ankle-torque and elongated-body.|
|Appears in Collections:||School of Computing Science|
Files in This Item:
|Kenwright, B. 14.pdf||thesis||47.31 MB||Adobe PDF||View/Open|
|dspacelicence.pdf||licence||43.82 kB||Adobe PDF||View/Open|
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