A leap for physics-based character animation: Automated gait cycle generation for characters of arbitrary morphologies using trajectory optimisation

This paper presents a framework that uses Trajectory Optimisation to automatically generate physically feasible 3D full body animations for legged characters of arbitrary morphology. The method is designed to be efficient, with animations generated in a matter of minutes. The user need not have any specific knowledge of physics, biomechanics or optimisation as the framework requires only a high-level description of the character’s skeleton to generate realistic looking walking and running animations. This paper demonstrates a general, lightweight, and easy to use tool that will allow animators to bring their imaginary characters to life without the time, cost and expertise usually required to do so.