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Page 1: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

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Page 3: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

Input:

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Articulated figure: Topology Rod lengths & masses Joint-angle limits

Output:A motion controller

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Page 26: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

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�5º

Page 28: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

Step

A B

Gather

B C

Reach

C D

Step

DB’

��t �5mX��| � ¼ � � � ³�n�r;��ª � r�wSx.{�m��et wX� �2¬ {X| � �X´ � � � �)��x.|j«�mX|�w8u�|t�xh��|!�F|jr�n�|j�Vu¤z�u¤��t�u!r;� ��z �

�5¶

Page 29: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

Twist

A B

Tip

B C

Roll

C D

Hop

D E

Shift

E F

Fall

F G

Stand

G H

Roll

H I

��t �5mo�.| � �o¼ � � � ³�n�r�� ª � r;wL��p�t wX� r}u�r��.n��h{o|!|!� �

� �

Page 30: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

A B

Step

B C

Lunge

C D

Fall

D E

Launch

E F

Pivot

F G

Land

G H

Kneel

��t �5mX��| � � ¼ ��|��.z�� ��t �F|j�Sn.mXq}�X� |!xhr��F|!��t�pX��t�u!r;� ��z �

¸��

Page 31: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

A B

Reach

BC

Gather

C D

Reach

D C’

Gather

��t �5mo�.| � �o¼ � |!�.z�� � t��F|j�Sx.{�m��e|�xC�F|!�.t pX��t�u!r�� � z ��¬ {X|~´ � � �X´��5x�|j«�mX|!w8u¤|}t�xB�.|��8|jr;n.|j�yu�zXu�� t�u!r�� � z �

¸ �

Page 32: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

A B

Tilt

BC

Hop

C D

Land, pivot

D E

Fling

Land

E F F G

Tumble

G H

Tumble, wave

H I

Tumble

I J

Tumble

J K

Do splits prematurely

Hurt head

K L

Attempt shuffle

L M

��t ��mX�.| � ¸o¼ � � � ³�n�r�� ª � r�w�� xCu�p�qe�Fp5x.t n�|Cn.��r!§�|ju¤n.p5��zs�8|���p5�.|4�.|�¢8wo|!qe|!w�n �

¸5�

Page 33: $ N ¤i 4metahack.org/tog95-animation.pdfInput: Fitness function: e.g., net horizontal distance traveled Articulated figure: Topology Rod lengths & masses Joint-angle limits Output:

A B

Tilt Hop

B C

C D

Land, pivot Fling

D E

E F

Land

F G

Tumble

HG

Tumble, swing

HI

Tumble

I J

Tumble, do splits

J K

Land

K L

Jump

L M

Stand

M N

Shuffle

N O

Shuffle

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