Bipedal walking simulation

A method of displaying locomotion of a computer-generated multiped, the method comprising:

• generating an image, on a visual display unit, of a multiped having a trunk and a plurality of legs depending therefrom, each leg comprising a first, upper part and a second, relatively lower part;
• using a neural controller to generate a control signal, the neural controller comprising two bi-directionally coupled chains of oscillators, each chain having a number of oscillators corresponding to the number of legs in the plurality, each oscillator being represented by a neural network;
• calculating a torque to apply to the upper parts of two respective legs, the torque being a function, at least in part, of the control signal and one or more user-specified constraints;
• simulating actuation of the upper parts of the two respective legs in accordance with the calculated torque;
• simulating swinging of the lower parts of the two respective legs in response to the simulated actuation of the upper parts of the legs;
• and
• simultaneously displaying the simulated actuation of the upper parts of the two respective legs and the simulated swinging of the lower parts of the two respective legs, to animate locomotion of the image of the multiped.