Environment-adopting locomotion controller for quadruped characters

• Main Authors: Dingjie Su, 蘇鼎傑
• Other Authors: Tainchi Lu
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/67761998277065277849

碩士 === 國立嘉義大學 === 資訊工程學系研究所 === 102 === Both 3D computer games and animations always require diverse characters to enhance the content of the play. Regardless of how a character is used in games or animations, locomotion is required for each moving character. In this thesis, we intent to exert animation and robotic technologies to make character locomotion look more plausible, and to be able to correspond to the moving controls, including changing moving speed, turning, and adapting the varying environment with little user effort instead of purely handcrafting. We first utilize the kinematic-based method to determine proper gaits and foot poses. Second, we propose the spine model, which consists of the spine state machine and force calculation, to simulate flexible spine motion with the corresponding gaits and foot poses. In addition, PID controller is taken into consideration to calacuate torque within the spine joints for facilitating the motion simulation of the spine. From the experimental results, we show that the proposed method is able to provide the flexible and feasible locomotion of quadrupedal characters no matter how a user controls the quadruped character moving in a variable speed or on an uneven terrain interactively.