In this paper, we propose a real-time approximation method for generating intelligent foot placement information for interactive biped characters. Our model uses an uncomplicated and efficient physics-based mechanism for generating fundamental pose information that can be used to construct the motions of a fully articulated dynamic character. The focus of this paper is a foot placement approximation method capable of producing balancing characters with dynamic characteristics. Furthermore, our model is straightforward to implement, computationally efficient, practical and robust, and ideal for time critical applications such as games.
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