Method for Real-time Controllable Step-length Human Leg Continuous Walking Motion Generation

doi:10.16182/j.cnki.joss.2015.06.005

Abstract

Abstract: Based on a free walking description model which is not capable of step length control, an iteration algorithm was proposed for solving the corresponding straight walking motion according to the given single step length which could be continuously adjusted. The problem of smooth transition between two consecutive walking steps was solved by pose-wise Bezier weighting, which kept the starting and ending poses of a walking step constant. Continuous straight leg walking motion with continuously varied step length could be generated real-timely. The proposed method provided a solution for real-time continuoxis leg walking motion generation with known step lengths in a straight line, and a solution for straight walking step planning with known walking distance as well.

Key words: human motion animation, real-time motion generation, straight walking, controllable step-length

CLC Number:

TP391

Jing Shuxu, Zhang Di, Zhang Tinglei, Yuan Shaoxin. Method for Real-time Controllable Step-length Human Leg Continuous Walking Motion Generation[J]. Journal of System Simulation, 2015, 27(6): 1190-1198.

References

[1] Srinivasan Manoj, Ruina Andy.Computer Optimization of a Minimal Biped Model Discovers Walking and Running[J]. Nahure (S0028 0836), 2006, 439(7072): 72-75.
[2] 李石磊,梁加红,吴冰,等.虚拟人运动生成与控制技术综述[J]系统仿真学报, 2011, 23(9): 1758-1771.
[Li Shilei, Liang Jiahong, Wu Bing, et al. Survey of Virtual Character Motion Generation and Control 0 Joumal of System Simulation (S1004-731X), 2011, 23(9): 1758-1771.)
[3] Van Welbergen Herwin, Van Basten Ben J H, Egges Arjan, et al. Real Time Animation of Virtual Humans: A Trade-off Between Naturalness and Control[J]. Computer Graphics forum (S1467-8659), 2010, 29(8): 2530-2554.
[4] Wikipedia. Rotoscoping. [EB/OL]. (2013-11-22) [2014-04-27]. htp://.wikipedia. org/wiki/Rotoscoping
[5] Yin Kang-Kang, Loken Kevin, Van de Panne Michiel. Simbicon: Simple Biped Locomotion Control [J]. ACM Transactions on Graphics (S0730-0301), 2007, 26(3); Article 105.
[6] Bolic Rouan, Magnenat Thalmann Nadia, Thalmann Daniel.A Global Human Walking Model with Real-time Kinematic Personification[J]. The Visual Computer (S0178-2789), 1990, 6(6): 344-358.
[7] 刘更代,潘志庚,程熙,等.人体运动合成中的机器学习技术综述[J]. 计算机辅助设计与图形学学报, 2010, 22(9): 1619-1627.
[8] Pejsa T, Pandzic 1 S. State of the Art in Examplc-based Motion Synthesis for Virtual Charactors in Interactive Appliations[J]. Computer Graphics forum (S1467-8659), 2010, 29(1): 202-226.
[9] 夏时洪,魏毅,王兆其.人体运动仿真综述[J].计算机研究与发展,2010, 47(8): 1354-1361.
[10] Geijtenbeck Thomas, Pronost Nicolas.Interactive Character Animation Using Simulated Physics: A State-of-the-Art Review[J]. Computer Graphics Forum (S1467-8659), 2012, 31(8): 2492-2515.
[11] Reitsma P S A, Pollard N S. Evaluating Motion Graphs for Character Animation [J]. ACM Transactions on Graphics (S0730-0301),2007, 26(4): Article 18.
[12] Ren Cheng, Zhao Liming, Safonova Alla.Human Motion Synthesis with Optimization-based Graphs[J] Comaputer Graphics Forum (S1467-8659), 2010, 29(2): 545-554.
[13] Wei Xiaolin, Min Jianyuan, Chai Jinxiang. Physically Valid Statistical Models for Human Motion Gencration [J]. ACM Transactions on Graphics (S0730-0301). 2011, 30(3): Article 19.
[14] Coros Stelian, Beaudoin Philippe, Yin Kang-Kang.et al. Synthesis of Constrained Walking Skills [J]. ACM Transactions on Graphics (S0730-0301), 2008, 27(5): Article 113.
[15] Wang Jack M,Fleet David J, Hertzmann Aaron. Optimizing Walking Controllers [J]. ACM Transactions on Graphics (S0730-0301). 2009, 28(5): Article 168.