Genetic programming for articulated figure motion

We present an approach to articulated figure motion in which motion tasks are defined in terms of goals and ratings. The agents are dynamically-controlled robots whose behavior is determined by robotic controller programs. The controller programs for the robots are evaluated at each time step to yield torque values which drive the dynamic simulation of the motion. We use the AI technique of Genetic Programming (GP) to automatically derive control programs for the agents which achieve the goals. This type of motion specification is an alternative to key framing which allows a highly automated, learning-based approach to generation of motion. This method of motion control is very general (it can be applied to any type of motion), yet it allows for specifications of the types of specific motion which are desired for a high quality animation. We show that complex, specific, physically plausible, and aesthetically appealing motion can be generated using these methods. KEY WORDS: Computer animation Genetic Programming Evolutionary Computation Learning Robotic