1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135

13

A pose tableis a sequential list of each desired pose and its

pose, and transition information.

transition information.

pose control graphs.

Figure 2.3 illustrates a typical creature which might be controlled using

IMAGE Imgs/thesis.final.w602.gif

S4


S2

S3


(a)

DOF


state

right
hip

0
0
-90
-45

right
knee

0
0
90
0


(b)

left
hip

-90
-45
0
0

left
knee

90
0
0
0

transition
info

S1
S2
S3
S4

0.2
0
0.2
0

L

R

Figure 2.2 - A periodic PCG for a simple planar, 4 degree of freedom biped model
(a)State diagram form.
(b)Pose table form. All DOF values are in degrees relative to a
reference position with straight, vertical legs and upright torso.
Time-based transitions are in seconds. For sensor-based
transitions, L - left foot sensor,R - right foot sensor.


While pose control appears similar to keyframing, two distinctions should be emphasized.

First,

the PCG determines the desiredjoint angles, and not the actualjoint angles.

The joints must be

driven toward the desired angles through the use of a low-level control mechanism.

Second, the

poses do not specify the creature's position and orientation with respect to the world frame of

reference. Instead, these are determined by the creature's interaction with its environment.

[CONVERTED BY MYRMIDON]