  Traditional character animation specializes in characters with a rigidly
articulated skeleton and a bipedal/quadripedal morphology. This assumption
simplifies many aspects for designing physically based animations, like
locomotion, but comes with the price of excluding characters of arbitrary
deformable geometries. To remedy this, our framework makes use of a
spatio-temporal actuation subspace built off of the natural vibration modes of
the character geometry. The resulting actuation is coupled to a reduced fast
soft body simulation, allowing us to formulate a locomotion optimization
problem that is tractable for a wide variety of high resolution deformable
characters.
