Biologically-inspired motion pattern design of multi-legged creatures
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Editors: Machado, P., McDermott, J. and Carballal, A.
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Journal: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume: 7834 LNCS
In this paper, we propose a novel strategy to synthesize motion patterns for multi-legged creatures inspired by the biological knowledge. To prove the concept, our framework deploys an approach of coupling the dynamics model, the Inverted Pendulum Model, and the biological controller, the Central Pattern Generator, to synthesize the motion of multiple legged creatures. The dynamics model ensures the physical plausibility and allows the virtual character to react to the external perturbations, where the biological controller coordinates the motion of several legs with designed numerical operators, providing user-friendly high-level control. This novel framework is computationally efficient by taking advantages of the self-similarity in motion and able to animate characters with different skeletons. © 2013 Springer-Verlag.