CS6555 Computer Animation – Lab 2 – Hierarchical Animation

In this assignment, we were tasked with developing a hierarchical walking animation. The primary requirement was a basic bipedal motion, e.g. two legs attached to a pelvis, walking along a trajectory. I extended this requirement by developing a humanoid skeleton running along a trajectory. The hierarchy consists of links and joints where the joints are simple revolute joints, e.g. only one degree of freedom. The hip and shoulder joints actuate perpendicular to the inboard link while the knees and elbows actuate inline with the inboard link. Because this system is keyframe based, the joint constraints are a function of the joint trajectory rather than enforced by the joint itself and the animations are best approximations rather than physically based.

This first video demonstrates the final version of development and shows the running animation without any trajectory visualizations.

The following video demonstrates an interim unit test development of the humanoid hierarchy walking animation, e.g. straight legged, and includes visualizations of the body trajectory and the joint trajectories.

The following video demonstrates another interim unit test development of the bipedal hierarchy walking animation which proved the cumulative transformations between root link and constituent outboard links.

The following video demonstrates another interim unit test development of the bipedal hierarchy walking animation which proved the basic trajectories to be applied to both shoulders and hips.

The following video demonstrates an early unit test development of the pendulum trajectory which proved the sinusoidal trajectory for shoulders and hips as well as the reversing of trajectories thereby allowing infinite reversible animations.

The final video demonstrates an early unit test development of the cyclic trajectory which proved the closing of trajectories thereby allowing infinite forward animations.

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