Development of motion generator supporting base changes

Abstract

Quaternion based motion generator relieves several problems caused by 1 degree of freedom(DOF) style joint representations. In this paper, we developed a quaternion based 3-dimensional hierarchial inverse kinematics based motion editor for computer animation. The motion generator allows us to change bases which makes it more realistic to make a locomotion motion. Motion interpolation is done by piecewise C-2 continuous quaternion curves with several key frames provided by a user. Also the interpolation time between key frames is adjustable. The control is done at velocity and acceleration level as well as orientation level. Several demonstration including human walking is provided.