Variability in Animated Motion

Problem
Two of the principles of hand animation are that motion should not be symmetric and that an animated figure should never be completely still. Simulated motion often violates both of these principles. We should be able to address this problem by adding in "noise" at several different points in the simulation: in the joint torques, in the desired joint values, in the control gains, in the sensor readings for the joint angles, or through irregularities in the environment.

Using a simulation of a runner that has already been instrumented for some kinds of noise, generate animated sequences with various noise paramaters and do informal user studies to begin to identify what sources, types, and magnitudes of noise generate the most appealing motion.