Skip to main content
SpringerLink
Log in
Book cover

Models and Techniques in Computer Animation pp 257–269Cite as

Legged Locomotion Using HIDDS

  • Conference paper

Part of the book series: Computer Animation Series ((3056))

Abstract

The aim of the project was to experiment with the use of dynamic analysis in the manipulation and control of articulated figures for application in computer animation. A hybrid direct/inverse dynamics method was constructed and ground reaction forces were included by use of a virtual leg. Gait determinants were used to provide a parametric description of bipedal walking.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  • Alexander R (1983) Animal Mechanics. Blackwell Scientific Publications

    Google Scholar 

  • Boulic R, Renault 0 (1991) 3D Hierarchies for Animation. In: N Magnenat-Thalmann, D Thalmann (eds), New Trends in Animation and Visualization,John Wiley & Sons

    Google Scholar 

  • Bruderlin A, Calvert T (1989) Goal-Directed Dynamic Animation for Human Walking. ACM Computer Graphics, 23 (3): 233–242

    Article  Google Scholar 

  • Craig J (1989) Introduction to Robotics Mechanics and Control (2nd ed). Addison-Wesley Publishing Co.

    Google Scholar 

  • Featherstone R (1983) The Calculation of Robot Dynamics Using Articulated Body Inertias. International Journal of Robotics Research, 2 (1): 13–30

    Article  Google Scholar 

  • Featherstone R (1987) Robotic Dynamic Algorithms. Kluwer Academic Publishers

    Google Scholar 

  • Grillner S, Halbertsma J, Nilsson J, Thorstensson A (1979) The Adaptation to Speed in Human Locomotion. Brain Research, 165: 177–182

    Article  Google Scholar 

  • Hodgins J, Raibert M (1990) Biped Gymnastics. International Journal of Robotics Research,9(2):115–132 Inman V, Ralston H, Todd F (1981) Human Walking. Williams & Wilkins, Baltimore/London

    Google Scholar 

  • Kearney J, Hansen S, Cremer J (1991) Programming Mechanical Simulations. 2nd Eurographics Workshop on Simulation and Animation, Vienna.

    Google Scholar 

  • Loizidou S (1992) Dynamic Analysis of Anthropomorphic Manipulators in Computer Animation. Ph.D. Dissertation, University of North London.

    Google Scholar 

  • Loizidou S, Clapworthy G J (1992) HIDDS - Hybrid Inverse and Direct Dynamics System for Human Figure Animation. 3rd Eurographics Workshop on Animation and Simulation, Cambridge

    Google Scholar 

  • Loizidou S, Clapworthy G J (1991) Dynamic Analysis with Recursive Propagation for Motion Control in Human Figure Animation. Proc. CompuGraphics’91, Sesimbra, Portugal

    Google Scholar 

  • McMahon T (1984a) Muscles, Reflexes and Locomotion. Princeton University Press, Princeton NH. McMahon T (1984b) Mechanics of Locomotion. International Journal of Robotics Research, 3 (2): 4–28

    Google Scholar 

  • Nilsson J, Thorstensson A, Halbertsma J (1985) Changes in Leg Movements and Muscle Activity with Speeds of Locomotion and Mode of Progression in Humans. Acta Physiol Scand, 123: 457–475

    Article  Google Scholar 

  • Raibert M (1978) Manipulator Control using the Configuration Space Method. The Industrial Robot, 69–73 Raibert M (1986) Legged Robots that Balance. The MIT Press, Cambridge, Massachusetts

    Google Scholar 

  • Saunders J, Inman V, Eberhart H (1953) The Major Determinants in Normal and Pathological Gait. Journal of Bone and Joint Surgery, 35-A(3):543–558

    Google Scholar 

  • Sutherland I (1983) A Walking Robot. Pittsburgh: The Marcian Chronicles, Inc

    Google Scholar 

  • Thorstensson A, Oddsson L, Carlson H (1985) Motor Control of Voluntary Trunk Movements in Standing. Acta Physiol Scand, 125: 309–321

    Article  Google Scholar 

  • Thorstensson A, Nilsson J, Carlson H (1984) Trunk Movements in Human Locomotion. Acta Physiol Scand, 121: 9–22

    Article  Google Scholar 

  • Vasilonikolidakis N, Clapworthy G J (1991) Design of Realistic Gaits for the Purpose of Animation. In: N Magnenat-Thalmann, D Thalmann (eds), Computer Animation ‘81, Springer-Verlag, 101–114

    Google Scholar 

  • Vukobratovic M, Borovac B, Stokic D (1990) Legged Locomotion. Springer-Verlag, Berlin

    Book  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. P. O. Box 1589, Limassol, Cyprus

    Stephania Loizidou

  2. De Montfort University, Hammerwood Gate, Kents Hill, Milton Keynes, MK7 6HP, UK

    Gordon J. Clapworthy

Authors
  1. Stephania Loizidou
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Gordon J. Clapworthy
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. MIRALab, Centre Universitaire d’Informatique, University of Geneva, 24 rue du Général-Dufour, CH-1211, Geneva 4, Switzerland

    Nadia Magnenat Thalmann

  2. Computer Graphics Lab., Swiss Federal Institute of Technology, CH-1015, Lausanne, Switzerland

    Daniel Thalmann

Rights and permissions

Reprints and permissions

Copyright information

© 1993 Springer Japan

About this paper

Cite this paper

Loizidou, S., Clapworthy, G.J. (1993). Legged Locomotion Using HIDDS. In: Thalmann, N.M., Thalmann, D. (eds) Models and Techniques in Computer Animation. Computer Animation Series. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66911-1_23

Download citation

  • DOI: https://doi.org/10.1007/978-4-431-66911-1_23

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-66913-5

  • Online ISBN: 978-4-431-66911-1

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation