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Oshiruko

Physically based legged creature

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Hi, I was thinking about doing physically-based locomotion for legged creatures in a game, but it's been hard to find resources for that. I realize it's pretty difficult, but I already have a physics engine that I'm using, and I'm fairly knowledgeable about AI, so I figure it's feasible.

Something like http://www.ogre3d.org/forums/viewtopic.php?f=11&t=33301 would be an example of what I'm looking for, although I looked for the paper mentioned in that thread and couldn't find it.

Mainly I'm looking for a way for a dynamically simulated multi-legged creature (i.e. it's made up of rigid bodies and joints that are moved by applying impulses) to keep it's balance.

Does anyone know where I can find some resources on the topic?

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I remember that work referenced in the Ogre forums. Very nice, indeed! Unfortunately, I do not believe there is a freely downloadable version of the paper. You would have to purchase it from SIGGRAPH or Eurographics.

Please look at my reply to this other, recent thread:

Teaching skeletons how to walk

The information there may be useful to you.

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