ABSTRACT
Thecomputeranimationofanimalmotionrequirestheuseofconstrainedoptimizationtechniquestoproducenaturalexpressivemotion.Anewalgorithmis givenforoptimizinglimbmovementintermsofbothkinematicsanddynamicsbasedvariablesandconstraints.Thealgorithmusesdynamicprogrammingto solveforaminimum-costspeeddistributionalongaparametricsplinedpath.The difficultyinextendingconstrainedoptimizationtechniquestothesimulationof coordinatedbodymotionisdiscussed.
