  One of the most efficient ways of generating goal-directed walking motions is
synthesising the final motion based on footprints. Nevertheless, current
implementations have not examined the generation of continuous motion based on
footprints, where different behaviours can be generated automatically.
Therefore, in this paper a flexible approach for footprint-driven locomotion
composition is presented. The presented solution is based on the ability to
generate footprint-driven locomotion, with flexible features like jumping,
running, and stair stepping. In addition, the presented system examines the
ability of generating the desired motion of the character based on predefined
footprint patterns that determine which behaviour should be performed. Finally,
it is examined the generation of transition patterns based on the velocity of
the root and the number of footsteps required to achieve the target behaviour
smoothly and naturally.
