Résumé: This paper presents a high-level approach of animating human walking on a special kind of terrain * slopes. The desired motion is conveniently speci"ed by top-level parameters such as slope gradient, walking speed and step length. From these parameters, step constraints are derived to generate movement of the lower limbs by incorporating research results on human locomotion, such as ` state-phase timings a , ` symmetrical step a and ` ballistic walking a , etc. The trajectory of the center of mass (COM) is analyzed and synthesized according to the requirement of dynamic stability. A reasonable movement of the upper-body is thus obtained by applying the method of motion synthesis. These techniques are utilized to obtain realistic animation of human walking on slopes.

Langue: Anglais