Abstract
This paper presents a goal-directed motion control system for animation of human walking. The proposed motion control system consists of coordination controller for balancing and timing of walking motion and joint servo controller for realistic limb movement as well as control user interface for interactive modification of goal-directed motion control parameters and motion constraint primitives. In the proposed motion control system, the goal-directed high-level control concept of motion control and realistic human motor control principle for low-level joint servo control plays a key role in providing a convenient character animation tool which replaces time-consuming keyframe animation by relatively easy task of specifying high-level control parameters.
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