Human free-walking model for a real-time interactive design of gaits

This paper presents a human walking model built from experimental data based on a wide range of normalized velocities. The model is structured in two levels. At a first level, global spatial and temporal characteristics (normalized length and step duration) are generated. At the second level, a set of parameterized trajectories produce both the position of the body in the space and the internal body configuration in particular the pelvis and the legs. This is performed for a standard structure and an average configuration of the human body. The experimental context corresponding to the model is extended by allowing a continuous variation of global spatial and temporal parameters according to the motion rendition expected by the animator. The model is based on a simple kinematic approach designed to keep the intrinsic dynamic characteristics of the experimental model. Such an approach also allows a personification of the walking action in an interactive real-time context in most cases