Option 2: Garbage thrower Hw6 helper Option 1: Human gaits Option 2: Garbage thrower Wikipedia: Gait is the pattern of movement of the limbs of animals, including humans, during locomotion over a solid substrate. 

Use keyframe interpolation for feet position Use ik for joint angles time Right Left period

Left foot coordinates (in Torso coordinate system) k1 k2 k3 k4 k5 Left foot coordinates (in Torso coordinate system) K1 -2.05 -3.35 K2 0.2 -2.33 -2.80 K3 0.4 -1.12 -3.17 K4 0.6 1.40 -3.63 k5 0.8 1.86 -3.73 k6 1 (add right foot) (move torso) (ik: done in torso coordinate system) https://jsfiddle.net/jmcjc5u/pzkzebzv/3/ (left foot with fixed torso point)

k6 k7 k8 k5

Dimensioning Femur: Tibia: 2 2.2 4.1 1.2 3.9

Development Stages (mousemove controlled) https://jsfiddle.net/jmcjc5u/juxbpano/1/ (left foot with fixed torso point) https://jsfiddle.net/jmcjc5u/pzkzebzv/1/

https://jsfiddle.net/jmcjc5u/pzkzebzv/4/ L1 L2 L3 L4 L5 L6 L7 L8 L9=L1 R1 R2 R3 L4 L5 L6 L7 L8 L9=L1 R6 L1 (white) -2.05 -3.35 L2 0.125 -2.33 -2.80 R7 L3 0.25 -1.12 -3.17 R8 L4 0.375 1.40 -3.63 R1=R9 L5 0.5 1.86 -3.73 R2 L6 0.625 1.12 -3.54 R3 L7 0.75 0.19 R4 L8 0.875 -0.84 R5 L9=L1 1 https://jsfiddle.net/jmcjc5u/pzkzebzv/4/

https://jsfiddle.net/jmcjc5u/2xp5bj02/1/ Relation between T (keyframe period) and angular speed Integrate with Drive, Pursuit, …

Steady state; Need to work out idle to walk

Hw: give walk, ask them to do run

https://jsfiddle.net/game3js/achcL9k1/ http://jsfiddle.net/game3js/4tmz93r5/ https://jsfiddle.net/game3js/ghmdneq2/

https://jsfiddle.net/game3js/bz4g5zz0/ Add a trash can Add dat-GUI to control pitching Add ball trajectory Toggle air resistance