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TABLE OF CONTENTS
1. INTRODUCTION ...................................................................1


1.1 Kinematic Approaches .............................................................................1

1.2 Dynamics ............................................................................................2

1.3 Goals.................................................................................................3

1.4 Thesis Organization ................................................................................4


2. BACKGROUND.....................................................................5


2.1 Definitions...........................................................................................5

2.2 Previous Work......................................................................................5


2.2.1 Kinematic Animation .......................................................................5

2.2.2 Dynamics-based Animation................................................................7

2.2.3 Bipedal Locomotion ........................................................................9

2.2.4 Limit Cycle Control....................................................................... 12


2.3 Pose Control ...................................................................................... 12


2.3.1 Linear Parametric PCG Perturbations .................................................. 16


2.4 The Animation System........................................................................... 17


2.4.1 Ground Model............................................................................. 19


2.5 Biped Models ..................................................................................... 20


3. DISCRETE LIMIT CYCLE CONTROL...........................................23


3.1 Limit Cycles....................................................................................... 23

3.2 Control Formulation.............................................................................. 25

3.3 Application to Bipedal Locomotion............................................................. 31

3.4 Nominal Open-loop Control, Unom........................................................... 32

3.5 Choice of Regulation Variables, Q............................................................. 37

3.6 Choice of Perturbation Parameters, [!]U........................................................ 40

[CONVERTED BY MYRMIDON]