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A method of using footprints as a basis for generating animated locomotion is proposed. An optimization process is used to maximize the physical plausibility and perceived comfort of a motion which is constrained to match given footprint and timing information. The proposed method creates plausible walking, turning, leaping, and running motions for bipedal figures at interactive rates. Autonomous motions are generated using a planning algorithm which dynamically generates new footprints and the associated new motions.
Michiel van de Panne (1997) studied this question.