A Purposed model for Quadruped footprint generation

Abstract

Quadruped animation is a ever-growing field having enormous complex parameters of motion due to vide range of gait patterns. In this paper we discuss the problem of generating quadruped motion automatically by first predicting and generating footprints of quadruped motion based on number of steps and stride length and stride height. The planning and prediction algorithms is able to generate autonomous motion, which dynamically generates new footprints and associated new gait motions. The purposed model is using procedural programming technique to calculate the foot placement values for quadruped based on center of mass and trajectory optimization.