Adaptive locomotion on slopes and stairs using pelvic rotation

Taekgu Lee, Jinho Park, Taesoo Kwon

Research output: Contribution to journalArticle

2 Scopus citations


In this paper, we introduce a new online motion retargeting technique to generate natural locomotion of walking on slopes and stairs using only a single captured reference motion. An inverse-kinematics solver is developed to generate poses satisfying smooth trajectories of positional and rotational constraints for feet and hands. By considering the rotations of the pelvis and upper body, our technique is able to produce natural poses without knee-popping artifacts.

Original languageEnglish
Pages (from-to)873-881
Number of pages9
JournalVisual Computer
Issue number6-8
Publication statusPublished - 2015 Jun 12



  • Computer animation
  • Inverse kinematics
  • Physics-based

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