T4: a motion-capture-based goal-directed real-time responsive locomotion engine

This paper presents a new locomotion engine called T4. T4 is designed to cover walking motions on a horizontal floor, including straight/curved locomotion and turning-around, with captured motion data. It combines a step planner which determines parameters for the next step, and a database of captured step motion data. Captured step data are managed as 6D Delaunay triangles, and valid blended step motion data are obtained from the requested step parameters. The above mechanism realizes: (1) validity of blended data, (2) goal-directed property, (3) responsiveness, (4) realtime performance, and (5) reality from motion capture.