Abstract:
In this paper we discuss the technique
of performing Quadruped Motion Analysis from the original video footage
of quadruped character in motion. The motion analysis involves calculating the
footfall patterns and plotting the diagram, along with generation of Motion
Gait Graphs for each leg showing the swing and stance phase of each leg in
motion. The developed hybrid system
for procedural animation proposes
the use of Inverse Kinematics along with Dynamic
Controllers
.The
desired motion
control input,
comes
either from the user or from a higher level motion planning system. A motion
planning system uses the gait graph and footfall pattern
information to produce the desired animal behavior. In
our case, the motion control input consists of the desired values for the
body’s velocity,
and
the heading determined by the yaw angle. The
dynamic controller computes
the aggregate force Fr and torque Tr that
should
be applied to the body at the center of gravity. The problem can be formulated
as a linear constrained minimization and is solved using the Simplex method for
linear programming.
The
leg
subsystem is controlled by the kinematic gait
controller.
Based on these forces, a forward dynamic simulation is performed to compute the
new state of the body.
