Curved Path Human Locomotion That Handles Anthropometrical Variety
Files
Penn collection
Degree type
Discipline
Subject
human locomotion
walking path
foot prints
algorithm
generalization
trajectory
time complexity
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
Abstract
Human locomotion simulation along a curved path is presented. The process adds a small constant cost (O(1)) to any pre-existing straight line walking algorithm. The input curve is processed by the foot print generator to produce a foot print sequence. The resulting sequence is scanned by the walking motion generator that actually generates the poses of the walking that realizes such foot prints. The two primitives INITIALIZE_STEP and ADVANCE_STEP are used for walking motion generation. INITIALIZE_STEP is activated with the input parameters walker, next_foot_print, left_or_right, and step_duration, just before each step to precompute the trajectories of the center of the body and the ankles. ADVANCE_STEP is called with a normalized time to generate the actual pose at that moment. The normalized time is a logical time, covering zero to one during a complete step.