Update: February 27th, 2012

Haven’t had as much progress as I hoped to have had. But nonetheless, let’s get caught up.

Last week,

  • Used the footfall pattern from the horse walking video (horse walk 04) and determined the sinusoidal functions for each foot that generates the pattern.
    • Went over old notes from signal processing class and determined the period and phase of each pattern.
  • The feet are driven by one locator as it’s transitioned along the z-direction
  • Met with Huihua from Dr. Ames’s group again.
    • There have been some miscommunications, but all seems more clear now, at least what each of us is talking about.
    • What I need to implement their biped walker in Maya is a way to determine if a foot is on the ground during a walk cycle and “pin” it down and do this within Maya.
    • Their system controls the legs with conditional expressions. If the leg is in transition, it’s called a non-stance leg and the knee angle is controlled with a unique function. However, if the leg is not in transition (standing on the ground) it’s called a “stance” leg and is controlled by its own function. Therefore, the system controls the leg motion by switching between different functions. So what I need to figure out is how to determine if the leg is on the ground or not within Maya… I’m going to talk with Junze today about a solution.
    • I also need to finish rotoscoping the horse walk 04 video in order to get certain angle information for Huihua’s simulation. With that, they might be able to create a quadrupedal walker.
    • PROBLEMS: After talking with Tim, he made a good point that you can’t treat the front set of legs like the back set of legs. That is, you can’t assume that you have two “hip” joints as parent joints for the leg pairs.
      • For horses, the front joint is floating on the clavicle. I mentioned this to Huihua, but I don’t think he understood. I don’t want to spend too much more time on this if it’s not going anywhere, but I think that there might be some data to pull from it. I’ll try to get the remaining data by the end of this week and decide.

Where am I with my Gantt Chart?

  • Basic Locomotion (finish by 2/17/12): REVISIT AND FINISH NOW
    • Define the motion of a horse through its different gaits and transitions. This is mostly for an analysis and an overview to the motion that I want to achieve.
  • Define Locomotion Data (finish by 2/28/12): Might extend by about 5 days…
    • Determine the mathematical functions necessary to drive the different parts of the horse
    • Break it down into the different sections of the horse and then see if you can piece everything together. Hell, it’s a start, right?
      • Footfall pattern
      • Forequarters/shoulder region
      • Head/neck region
      • Hindquarters/Hip region
  • Prototype (finish by 3/4/12 or by the end of that week, 3/9/12)
    • Combine the different pieces to get overall motion
    • Think about the system as a state machine (Moore vs. Mealy? not sure)
      • States: Idle, Walk, Trot, Run
      • Transitional States: the mixture of the different functions as you transition from state to state.
  • Test Prototype (finish by 3/18/12, right after spring break)
    • Need to follow up on this…
    • Get feedback from people in the lab, Ann and Tim
  • Define Rig (3/11/12 – 3/25/12)
    • Rig that we’re using for rotoscoping (from Ariel and Junze)
    • Script my own
    • Must be generic enough so that others can go in and use for their animations.
  • Integrate Rig with Locomotion Data (3/26/12 – 4/9/12) probably at the earliest
  • Create User Interface (4/10/12 – 4/24/12)
    • QT within Maya 2012
  • Write-Up

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