Computer animation of human walking: a survey

This paper surveys the set of techniques developed in computer graphics for animating human walking. First we focus on the evolution from purely kinem atic 'knowledge-based' methods to approaches that incorporate dynamic const raints or use dynamic simulations to generate motion. Then we review the re cent advances in motion editing that enable the control of complex animatio ns by interactively blending and tuning synthetic or captured motions. (C) 1999 John Wiley & Sons, Ltd.