Full-Body Animation of Human Locomotion in Reduced Gravity Using Physics-Based Control

Abstract

The proposed physics-based approach can generate stable and robust full-body animation of various gaits under different gravitational conditions. The authors use a pre-estimation model based on the Froude number to predict the desired velocity and stride frequency of a character model in hypogravity and then generate full-body animation using a pendulum trajectory generator, motion planner, and tracking.