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Animation of dynamic legged locomotion
Abstract
This paper is about the use of control algorithms to animate dynamic legged locomotion. Control could free the animator from specifying the details of joint and limb motion while producing both physically realistic and natural looking results. We implemented computer animations of a biped robot, a quadruped robot, and a kangaroo. Each creature was modeled as a linked set of rigid bodies with compliant actuators at its joints. Control algorithms regulated the running speed, organized use of the legs, and maintained balance. All motions were generated by numerically integrating equations of motion derived from the physical models. The resulting behavior included running at various speeds, traveling with several gaits (run, trot, bound, gallop, and hop), jumping, and traversing simple paths. Whereas the use of control permitted a variety of physically realistic animated behavior to be generated with limited human intervention, the process of designing the control algorithms was not automated: the algorithms were "tweaked" and adjusted for each new creature.
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Cited by
Benchmarking Deep Reinforcement Learning for Continuous Control
Duan, Y., Chen, X., Houthooft, R., Schulman, J., & Abbeel, P. (2016) · arXiv · doi:10.48550/arxiv.1604.06778 · Cited by 1,114
Sims, K. (1994) · Proceedings of the 21st annual conference on Computer graphics and interactive techniques - SIGGRAPH '94 · doi:10.1145/192161.192167 · Cited by 1,005
Hodgins, J. K., Wooten, W. L., Brogan, D. C., & O'Brien, J. F. (1995) · Proceedings of the 22nd annual conference on Computer graphics and interactive techniques - SIGGRAPH '95 · doi:10.1145/218380.218414 · Cited by 623
Self-citationAMP: adversarial motion priors for stylized physics-based character control
Peng, X. B., Ma, Z., Abbeel, P., Levine, S., & Kanazawa, A. (2021) · ACM Transactions on Graphics · doi:10.1145/3450626.3459670 · Cited by 396
Multi-level direction of autonomous creatures for real-time virtual environments
Blumberg, B. M., & Galyean, T. A. (1995) · Proceedings of the 22nd annual conference on Computer graphics and interactive techniques - SIGGRAPH '95 · doi:10.1145/218380.218405 · Cited by 375
Metadata
- Authors
- Raibert, M. H., & Hodgins, J. K.
- Venue
- Proceedings of the 18th annual conference on Computer graphics and interactive techniques
- Publisher
- ACM
- Published
- 1991-07
- Pages
- 349-358
- OpenAlex
- W2043878167
- Cited by
- 292
- References
- 0
- FWCI
- 22.02
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Animation of dynamic legged locomotion. https://app.cochat.ai/papers/10.1145/122718.122755
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- Raibert, M. H., & Hodgins, J. K. (1991). Animation of dynamic legged locomotion. Proceedings of the 18th annual conference on Computer graphics and interactive techniques. https://doi.org/10.1145/122718.122755
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
