PhD ThesisA rudimentary biped activity that is essential in interactive evirtual worlds, such as
video-games and training simulations, is stepping. For example, stepping is fundamental in everyday terrestrial activities that include walking and balance recovery.
Therefore an effective 3D stepping control algorithm that is computationally fast
and easy to implement is extremely valuable and important to character animation
research. This thesis focuses on generating real-time controllable stepping motions
on-the-fly without key-framed data that are responsive and robust (e.g.,can remain
upright and balanced under a variety of conditions, such as pushes and dynami-
cally changing terrain). In our approach, we control the character’s direction and
speed by means of varying the stepposition and duration. Our lightweight stepping
model is used to create coordinated full-body motions, which produce directable
steps to guide the character with specific goals (e.g., following a particular path
while placing feet at viable locations). We also create protective steps in response
to random disturbances (e.g., pushes). Whereby, the system automatically calculates where and when to place the foot to remedy the disruption. In conclusion,
the inverted pendulum has a number of limitations that we address and resolve
to produce an improved lightweight technique that provides better control and
stability using approximate feature enhancements, for instance, ankle-torque and
elongated-body
