procedural-locomotion

Code base for the project: Procedural Locomotion Engine For Digital Humans.

Getting started

We recommend JetBrains CLion for the development. It is a paid software, but JetBrains has the student plan that provides free licenses. See this for a quick start guide.

1. Fork this repository and download the code.

2. Build the project (or build locoApp). You can build the project in cmake Release mode for realtime performance: see this for a guide about cmake profile for CLion.

3. Run the locoApp.

4. Select a model to play with: Main Menu > Character > Model. We have Bob and Dog for examples.

5. Press the space bar to play the app. You can give joystick command with arrow keys in your keyboard. If it does not move, don't freak out. It's normal. You have to implement a base (body) trajectory planning strategy as well as a inverse kinematics solver: recall a1. Once you've done that, you will see something like this.

6. Of course, we don't want this crappy walking motion. Now, try your best to generate more natural motions for our poor Bob! But first, play around the code, and try understanding it. Don't hesitate to contact Dongho ([email protected]) if you have any question regarding the implementation.

Immediate Next steps

• Implement an inverse kinematics solver: src/libs/loco/include/loco/kinematics/IK_Solver.h. Complete TODO part.
• Complete a base (body) trajectory planning strategy: src/libs/loco/include/loco/planner/LocomotionPlannerHelpers.h
• Design a strategy for arm motions. Modify src/libs/loco/include/loco/planner files to implement your strategy.
• Review biomechanics, computer graphics and robotics literature for a natural ankle motion. This is the most crucial step for successful demo!

Comments

• Most likely, you wouldn't need to modify the following source code files in
  • src/libs/gui and src/libs/utils: basic feature implementation for rendering, mathematical operation etc.
  • src/libs/loco/include/loco/robot and corresponding cpp files.
  • But of course, if you need, feel free to do it.
• This repo will be keep updated, so please stay tuned. If you want to sync your repo with the new commits, use git rebase instead of git merge: see this for more details of git rebase.
• Please actively use GitHub issue for questions and reporting issues on the code base!