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We describe a framework for the automatic synthesis of biped locomotion controllers that adapt to uneven terrain at run-time. The framework consists of two components: a per-footstep end-effector path planner and a per-timestep generalized-force solver. At the start of each footstep, the planner performs short-term planning in the space of end-effector(More)
In this paper, an approach that animates facial expressions through speech analysis is presented. An individualized 3D head model is first generated by modifying a generic head model, where a set of MPEG-4 Facial Definition Parameters (FDPs) has been pre-defined. To animate realistic facial expressions of the 3D head model, key frames of facial expressions(More)
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