There is described a method for representing locomotion for character animation, the character having at least one pair of feet, the method comprising: defining a cycle identifying a displacement of a center of pressure under a surface of each foot of the at least one pair of feet, the cycle corresponding to a type of locomotion and each phase of the cycle corresponding to a position of the center of pressure for a given position of the foot throughout the cycle; synchronizing the at least one pair of feet together by establishing a master-slave relationship, the master having a majority of a load supported by the at least one pair of feet and determining when to transfer the load to the slave in accordance with a set of rules; and transferring the load back and forth between the at least one pair of feet, the master-slave relationship being reversed every time the load is transferred.
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