Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

January 1991


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-91-03.


We describe techniques for interactively controlling bipedal articulated figures through kinematic constraints. These constraints model certain behavioral tendencies which capture some of the characteristics of human-like movement, and give us control over such elements as the figures' balance and stability. They operate in near real-time, so provide behavioral control for interactive manipulation. These constraints form the basis of an interactive motion-generation system that allows the active movement elements to be layered on top of the passive behavioral constraints.



Date Posted: 09 August 2007