Abstract

This paper presents a fast and practical motion synthesis algorithm for massive number of quadruped animals. The algorithm constructs so called speed maps that contain a set of same style motions but different speed from a single cyclic motion by using IK(Inverse Kinematics) solver. Then, those speed maps are connected each other to form a motion graph. At run time, given a point trajectory that obtained from user specification or simulators, the algorithm retrieves proper speed motions from the graph, and modifies and stitches them together to create a long seamless motion in real time. Since our algorithm mainly targets on the massive quadruped animal motions, the motion graph create wide variety of different size of characters for each trajectory and automatically adjusted synthesized motions without causing artifact such as foot skating. The performance of algorithm is verified through several experiments