Proceedings: GI 1998

Footprint-based Quadruped Motion Synthesis

Nick Torkos, Michiel van de Panne

Proceedings of Graphics Interface '98: Vancouver, British Columbia, Canada, 18 - 20 June 1998, 151-160

DOI 10.20380/GI1998.19

  • BibTeX

     title = {Footprint--based Quadruped Motion Synthesis},
     author = {Nick Torkos and Michiel van de Panne},
     booktitle ={Proceedings of the Graphics Interface 1998 Conference, June 18-20, 1998, Vancouver, BC, Canada},
     year = {1998},
     month = {June},
     pages = {151--160},
     url = {}


This paper applies trajectory-based optimization techniques to the synthesis of quadruped motions. The animator specifies hard constraints, consisting of footprint locations and their timings, and soft constraints that encode both physically-plausible behavior and the notion of comfortable positions. By dealing first and foremost with the spline trajectories representing the gross motion of the quadruped, the resulting optimization problem can be solved efficiently and robustly. Results include walking, jumping, and galloping quadrupeds.