Footprint-based Quadruped Motion Synthesis

This paper applies trajectory based optimization techniques to the synthesis of quadruped motions The animator speci es hard constraints consisting of footprint locations and their timings and soft con straints that encode both physically plausible beha vior and the notion of comfortable positions By deal ing rst and foremost with the spline trajectories rep resenting the gross motion of the quadruped the res ulting optimization problem can be solved e ciently and robustly Results include walking jumping and galloping quadrupeds

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