Planning Biped Locomotion
Typical high-level directives for locomotion of human-like characters are useful for interactive games and simulations as well as for producing custom animation. This project focuses on developing new schemes for planning natural-looking locomotion of a biped figure to facilitate rapid motion prototyping and task-level motion generation. Given start and goal positions in a virtual environment, our scheme gives a sequence of motions to move from the start to the goal using a set of live-captured motion clips. Motion planning consists of three steps: roadmap construction, roadmap search, and motion generation. We randomly sample a set of valid footholds from the environment to construct a directed graph, called a roadmap, that guides the locomotion of the figure. Every edge of the roadmap is associated with a recorded motion clip. A sequence of safe footholds to the goal can be searched through the roadmap. The final biped locomotion is created by splicing motion clips and adapting them to follow safe footholds.
Uneven terrain: min_terrain.avi (10.9MB)
In a room:min_room.avi (14.7MB)
Paper supplementary video: min_full.avi (52.2 MB, with voice, DivX5.02)
Min Gyu Choi, Jehee Lee, Sung
Planning Biped Locomotion Using Motion Capture Data and
Probabilistic Roadmaps, ACM Transactions on Graphics,
volume 22, number 2, 182-203, 2003.
[Last modified : Feb 11, 2003]