Understand the program Copy, compile and execute program marche. You need also traqueboule.h , noeuds.h , hermite.h , matrix.h and Makefile . The animation represents a walking biped. You will progressively enhance its behavior. The motion is controled by an automat.
Knee flexion Note that the legs move as if they where rigid.
We want the knee of the swinging leg to be slightly bended in the middle of its motion. We could introduce additional keyframes. However, since we are using cubic splines, you will modify the tangents instead. 3 Arm motion Make the arms move by including their joints in the kinematic parameters. Tuning the velocity Create a new parameter which controls velocity.