Locomotion of jointed figures over complex terrain

This thesis describes a system that allows the creation of arbitrary jointed figures that can be animated traveling over uneven terrain with forbidden zones. Creatures can be easily described that have any number of legs, each leg having any number of joints, using an interactive, graphical "figure editor". Locomotion can be automatically generated from a figure description using default locomotion parameters, and these parameters can be adjusted to achieve a variety of locomotion styles. Techniques such as inverse-kinematics, dynamic simulation, step planning, and trajectory planning have been used. Thesis Supervisor: David Title: Assistant Professor Zeltzer of Computer Graphics This work was supported in part by NHK (Japan Broadcasting Corporation), and by an equipment loan from Symbolics, Inc.

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