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A dynamic model of locomotion for computer animation

A computational model of legged locomotion was developed in which all motions are physically-based. A dynamic simulator for articulated figures forms the basis of all motion in the system, where forces are applied to bodies, and their accelerations are then computed. A gait controller coordinates the activity of stepping and stance, and is based on biological mechanisms found in vertebrates and invertebrates. Dynamic motor programs, based on spring and damper combinations, provide the forces required to move the limbs in order to step and to propel the body forward. The system successfully computes the motions of a simulated six-legged insect negotiating level and uneven terrain. A VHS videotape containing sample animations accompanies this thesis. Thesis Supervisor: David L. Zeltzer Title: Associate Professor of Computer Graphics This work was supported in part by the National Science Foundation (Grant IRI8712772), and equipment grants from Hewlett-Packard Co., Gould Electronics, Inc., and Apple Computer, Inc.