Computer-based animation of a multi-legged articulated body

A methodology for modelling quadruped gaits and gait transitions based on Fourier series analysis of horse movement is proposed. The resultant model is used to create animated locomotion sequences of a quadruped changing gait. The dynamic similarity hypothesis is used as a method for comparing the gaits of different animals. The fields investigated to provide the background of this work are animation, gait research, data gathering and simulation. From these the methodology has been used to define a generic rotoscoped model for movement, which although developed from horse movement data, could be equally applied to any other quadruped. Keys ideas from biomechanics and gait research have been incorporated into the gait and gait transition models. Different gaits have fundamentally different leg movement patterns, so a locomotion model which models different gaits must take into account the synchronisation between the legs during locomotion. Additionally any methodology used to simulate the transition between gaits must take into account the phase differences between the legs when simulation a gait transition. Animation provides techniques to model the visual motion of a multi-legged figure moving using a number of different gaits, the control of movement is determined by the gait model.