Adaptive Humanoid Character Motion Animation

摘要

This paper presents a method for synthesizing motion of biped characters moving across uneven virtual terrain in real-time. Different motions such as walking, running, and sneaking are possible. The method is based on generating foot, pelvis, and arm trajectories and controlling the skeleton with a custom inverse kinematics (IK) algorithm. The proposed foot and pelvis trajectory models adapt to the local characteristics of the terrain the character is moving across. The proposed method generates naturally looking animation for characters walking up or down stairs and even traversing across them (one foot higher than the other).