The Visual Computer

, Volume 31, Issue 6–8, pp 873–881 | Cite as

Adaptive locomotion on slopes and stairs using pelvic rotation

Original Article

Abstract

In this paper, we introduce a new online motion retargeting technique to generate natural locomotion of walking on slopes and stairs using only a single captured reference motion. An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories of positional and rotational constraints for feet and hands. By considering the rotations of the pelvis and upper body, our technique is able to produce natural poses without knee-popping artifacts.

Keywords

Computer animation Inverse kinematics Physics-based 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.Hanyang UniversitySeoulRepublic of Korea
  2. 2.Soongsil UniversitySeoulRepublic of Korea

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