1. 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. 

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

3. 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)
(left foot with fixed torso point)

4. k6 k7 k8 k5

5. Dimensioning
Femur:
Tibia: 2
2.2
4.1
1.2
3.9

6. Development Stages (mousemove controlled)
(left foot with fixed torso point)

7. 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

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

10. Steady state;
Need to work out idle to walk

11. Hw: give walk, ask them to do run

13. https://jsfiddle.net/game3js/achcL9k1/

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