Proceedings: GI 2011

A hybrid interpolation scheme for footprint-driven walking synthesis

Ben van Basten, Sybren Stüvel, Arjan Egges

Proceedings of Graphics Interface 2011: St. John’s, Newfoundland, Canada, 25 - 27 May 2011, 9-16

DOI 10.20380/GI2011.02

  • BibTex

    @inproceedings{van Basten:2011:10.20380/GI2011.02,
    author = {van Basten, Ben and St{\"u}vel, Sybren and Egges, Arjan},
    title = {A hybrid interpolation scheme for footprint-driven walking synthesis},
    booktitle = {Proceedings of Graphics Interface 2011},
    series = {GI 2011},
    year = {2011},
    issn = {0713-5424},
    isbn = {978-1-4503-0693-5},
    location = {St. John{\textquoteright}s, Newfoundland, Canada},
    pages = {9--16},
    numpages = {8},
    doi = {10.20380/GI2011.02},
    publisher = {Canadian Human-Computer Communications Society},
    address = {Toronto, Ontario, Canada},


In many constrained environments, precise control of foot placement during character locomotion is crucial to avoid collisions and to ensure a natural locomotion. In this paper, we present a new exact motion synthesis technique that generates planar parameterized stepping motions based on a combination of rotational and Cartesian interpolation. Existing stepping motions are blended in a linearized representation to guarantee exact control of foot placement. By concatenating these parameterized steps, we can generate highly-constrained stepping animations in real-time. Furthermore, because of a novel blend candidates selection strategy, soft constraints such as stance duration and foot orientation are also taken into account. We will show that our technique can generate a variety of different stepping animations efficiently, even though we impose many constraints on the animation.