Dynamic Simulation Methods for Animation of Legged Locomotion

The modeling of legged locomotion is of central importance to the successful animation of human and animal gures. Since legged locomotion is typically diicult to animate using only kinematic modeling, alternative, more physically-based methods have to be employed. This paper discusses several methods for dynamic simulation of legged locomotion. Typical components of a dynamic simulation system are outlined, and a number of successful applications are reviewed.