Efficient generation of motion transitions using spacetime constraints
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
Footskate cleanup for motion capture editing
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive motion generation from examples
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Snap-together motion: assembling run-time animations
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
Physical Touch-Up of Human Motions
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
Computing the duration of motion transitions: an empirical approach
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Knowing when to put your foot down
I3D '06 Proceedings of the 2006 symposium on Interactive 3D graphics and games
Quick transitions with cached multi-way blends
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Psychologically Inspired Anticipation and Dynamic Response for Impacts to the Head and Upper Body
IEEE Transactions on Visualization and Computer Graphics
Goal-directed stepping with momentum control
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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We introduce a general method for animating controlled stepping motion for use in combining motion capture sequences. Our stepping algorithm is characterized by two simple models which idealize the movement of the stepping foot and the projected center of mass based on observations from a database of step motions. We draw a parallel between stepping and point-to-point reaching to motivate our foot model and employ an inverted pendulum model common in robotics for the center of mass. Our system computes path and speed profiles from each model and then adapts an interpolation to follow the synthesized trajectories in the final motion. We show that our animations can be enriched through the use of step examples, but also that we can synthesize stepping to create transitions between existing segments without the need for a motion example. We demonstrate that our system can generate precise, realistic stepping for a number of scenarios.