Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

May 1993


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-93-55.


When humans need to get from one location to another, there are many occasions where non-rhythmic stepping (NRS) is more desirable than normal walking. This can be observed in performing tasks in a constricted work space. For this purpose NRS is considered as a variation of curved path walking. Four types of local adjustment are dealt with: forward, backward, lateral stepping, and turnaround. Combined with curved path walking, NRS provides a very useful tool for animating human locomotion behaviors. In the lower body motion, the trajectory of the hip, angular trajectory of the feet, and the trajectory of the swing ankle during the swing phase determine the basic outline of an NRS. These trajectories are precomputed at the start of each step. The stepping process is called with a normalized time to generate the actual pose of the NRS at that moment. the normalized time is a logical time, covering zero to one during a complete step.


animation, human locomotion, non-rhythmic stepping, trajectory



Date Posted: 16 July 2007