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Dynamic simulation of autonomous legged locomotion

Authors:

Michael McKenna,

David ZeltzerAuthors Info & Claims

ACM SIGGRAPH Computer Graphics, Volume 24, Issue 4

Pages 29 - 38

https://doi.org/10.1145/97880.97882

Published: 01 September 1990 Publication History

Abstract

Accurate simulation of Newtonian mechanics is essential for simulating realistic motion of joined figures. Dynamic simulation requires, however, a large amount of computation when compared to kinematic methods, and the control of dynamic figures can be quite complex. We have implemented an efficient forward dynamic simulation algorithm for articulated figures which has a computational complexity linear in the number of joints. In addition, we present a strategy for the coordination of the locomotion of a six-legged figure - a simulated insect - which has two main components: a gait controller which sequences stepping, and motor programs which control motions of the figure by the application of forces. The simulation is capable of generating gait patterns and walking phenomena observed in nature, and our simulated insect can negotiate planar and uneven terrain in a realistic manner. The motor program techniques should be generally applicable to other control problems.

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Cited By

Sims K(2023)Evolving Virtual CreaturesSeminal Graphics Papers: Pushing the Boundaries, Volume 210.1145/3596711.3596785(699-706)Online publication date: 1-Aug-2023
https://dl.acm.org/doi/10.1145/3596711.3596785
Ding OSchroeder C(2020)Penalty Force for Coupling Materials with Coulomb FrictionIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2019.289159126:7(2443-2455)Online publication date: 1-Jul-2020
https://doi.org/10.1109/TVCG.2019.2891591
Kim YLin MManocha D(2017)Collision DetectionHumanoid Robotics: A Reference10.1007/978-94-007-7194-9_26-1(1-24)Online publication date: 27-Jul-2017
https://doi.org/10.1007/978-94-007-7194-9_26-1
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Index Terms

Dynamic simulation of autonomous legged locomotion
1. Computing methodologies
  1. Computer graphics
    1. Animation
    2. Shape modeling
      1. Parametric curve and surface models
      2. Volumetric models

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Information & Contributors

Information

Published In

cover image ACM SIGGRAPH Computer Graphics

ACM SIGGRAPH Computer Graphics Volume 24, Issue 4

Aug. 1990

377 pages

ISSN:0097-8930

DOI:10.1145/97880

Editor:
Richard J. Beach

Issue’s Table of Contents

SIGGRAPH '90: Proceedings of the 17th annual conference on Computer graphics and interactive techniques
September 1990
452 pages
ISBN:0897913442
DOI:10.1145/97879
Chairman:
Forest Baskett

Copyright © 1990 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Publication History

Published: 01 September 1990

Published in SIGGRAPH Volume 24, Issue 4

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Cited By

Sims K(2023)Evolving Virtual CreaturesSeminal Graphics Papers: Pushing the Boundaries, Volume 210.1145/3596711.3596785(699-706)Online publication date: 1-Aug-2023
https://dl.acm.org/doi/10.1145/3596711.3596785
Ding OSchroeder C(2020)Penalty Force for Coupling Materials with Coulomb FrictionIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2019.289159126:7(2443-2455)Online publication date: 1-Jul-2020
https://doi.org/10.1109/TVCG.2019.2891591
Kim YLin MManocha D(2017)Collision DetectionHumanoid Robotics: A Reference10.1007/978-94-007-7194-9_26-1(1-24)Online publication date: 27-Jul-2017
https://doi.org/10.1007/978-94-007-7194-9_26-1
Knott TKuhlen TKiyokawa KReiners DSteed A(2015)Bimanual haptic simulation of bone fracturing for the training of the bilateral sagittal split osteotomyProceedings of the 25th International Conference on Artificial Reality and Telexistence and 20th Eurographics Symposium on Virtual Environments10.5555/2852313.2852327(101-108)Online publication date: 28-Oct-2015
https://dl.acm.org/doi/10.5555/2852313.2852327
HAYASHI YHASE KNAITO HNISHIZAWA N(2015)Generation and evaluation of Nanba walking style by changing the feedback equation of neural oscillatorTransactions of the JSME (in Japanese)10.1299/transjsme.14-0064481:824(14-00644-14-00644)Online publication date: 2015
https://doi.org/10.1299/transjsme.14-00644
Semwal SBolt D(2015)Resolved Motion Control for High-Degree-Of-Freedom Articulated FiguresInternational Journal of Modelling and Simulation10.1080/02286203.2006.1144238226:4(309-315)Online publication date: 15-Jul-2015
https://doi.org/10.1080/02286203.2006.11442382
HAYASHI YHASE KNAITO HNISHIZAWA N(2014)Development of a walking simulation model based on the hybridization of the objective function and the precise foot segment modelTransactions of the JSME (in Japanese)10.1299/transjsme.2014dr009980:812(DR0099-DR0099)Online publication date: 2014
https://doi.org/10.1299/transjsme.2014dr0099
Guo SChang JCao YZhang J(2014)Special Section on CAD/Graphics 2013Computers and Graphics10.1016/j.cag.2013.10.02138(78-85)Online publication date: 1-Feb-2014
https://dl.acm.org/doi/10.1016/j.cag.2013.10.021
Kenwright B(2012)Generating Responsive Life-Like Biped CharactersProceedings of the The third workshop on Procedural Content Generation in Games10.1145/2538528.2538529(1-8)Online publication date: 29-May-2012
https://dl.acm.org/doi/10.1145/2538528.2538529
Gebhart MJohnson DTarjan DKeckler SDally WLindholm ESkadron K(2012)A Hierarchical Thread Scheduler and Register File for Energy-Efficient Throughput ProcessorsACM Transactions on Computer Systems10.1145/2166879.216688230:2(1-38)Online publication date: 1-Apr-2012
https://dl.acm.org/doi/10.1145/2166879.2166882
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