Final Project

My project goal was to produce a procedural walk for a biped model, using inverse kinematics to maintain natural human motion. While I did ...

Contact Wrench Cone  Continued reading into approaches to maintain biped stability revealed some limitations of ZMP concept. As discusse...

As briefly visited in an earlier blog, when considering the natural motion of a biped’s joints through gait phases I was able to make use of...

Orienting the foot to the supporting surface is comparatively simple compared to the selection of foot placement during locomotion. Kanoun...

In addition to correctly restraining the joint angles during motion, for added realism a model’s feet should match the surface angle of the ...

With the exception of the IK algorithm joint constraints, the prerequisite behaviours are now in place to attempt a 3D procedural walk. As...

3D Limb Bones Intersection Problem  My previous trajectory plotter checked for intersections linearly between the Bézier curve resolution ...