Research On Quadruped Footprint Constraints Generation Based On AAPS Model

Quadrupeds are an important part of the animated characters,and motion capture has been one of the research issues in the domain of quadruped animation.The existing methods of motion capture are mainly for the human,but the majority of quadrupeds are difficult to domesticate and they have more complex and varied forms,so the traditional acquisition methods are only applicable to a few quadrupeds.The scarcity of quadruped motion data leads to that the data of related researchs are form the locomotion results.Using neither a geometric-driven method nor a physics-driven method for locomotion,the toe-trajectory is the most important basis for initial gesture and creation strategy,and the creation of toe-trajectory depends on its gait pattern.To solve the above problems,this paper presents an Asynchronous Anteroposterior Sequence(AAPS)model according to application requirements of animation and works of biology gait.On this basis,this paper presents a footprint constraints generation method for multi-environmental constraints.Users only need to enter a few simple parameters,such as speed,toe-trajectory can be quickly created.Appling the trajectory to the method for locomotion,we can get the real-constraint-driven motion results.This dissertation mainly includes the following contents:(1)We propose a gait model based on asynchronous.Establishing the association model between gait and velocity,we can generate gait fragments at different speeds by matching the biology literature data according to the user-defined speed information,or estimate the velocity of gait fragments acquired from the video.At the same time,according to the asynchronous,we can switch the different gait,and generate the gait graph of complete quadruped motion sequence.(2)In order to generate a richer motion behavior,we propose a footprint constraints generation method for multi-environmental constraints.According to different constraints,such as terrain or steering,we develop a real time planning for the toe trajectories,and generates a variety the footprint constraint for mutli-target environments.(3)We build a quadruped toe motion generation system.The input of system comes from the biology research results and the data acquired from the video.Finally,we apply the footprint constraint results to the animation simulation platform for experimental analysis,and validate and discusse the theoretical method proposed in this paper is.