| Summary: | 碩士 === 大同大學 === 資訊工程學系(所) === 103 === This paper presents an approach for producing the two-dimensional biped character walking animation by using inverse pendulum, Hermite curve, inverse kinematics and based on physical simulation. First we use motion capture data to set initial state, second use inverse pendulum method to find next position for character`s swing leg in order to maintain balance, third use hermite curve to generate character`s foot trajectory and use inverse kinematics to compute desired angle for swing leg, last we compute desired joint angle for all character`s joint and use PD controller to compute torque for them.
In addition to basic walking, this paper presents some methods for character`s balance recover when character get external force, and some details when we simulate biped walking animation. This method can enhance robustness for our system.
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