Motion generation methods based on motion controllers are widely investigated and cause difficulty in computer animation. These methods are limited by poor adaptabilities of bone parameters and style variations. Given these challenges

current motion controllers cannot rapidly adapt to various user demands. This paper proposes a multi-skeleton

multi-style-oriented locomotion controller

and describes the method for its generation. First

we use an improved proportional derivative controller for preprocessing

with the aid of heuristic method to adopt the high proportional and derivative gains during our simulation process. We then apply specific rules based on skeletal variations to tune the proportional and derivative parameters of all joints. Next

we apply the twiddle iteration algorithm to optimize the proportional and derivative parameters of hip joint for the purpose of improving motion stability. Finally

we set up several objective functions aimed at maintaining motion stability and expanding motion style diversity to optimize the target pose of the controllers

and we choose the covariance matrix adaption evolution strategy to process the optimization. Experimental results show that the proposed method can generate a series of walking controllers mapped to different skeletal parameters and styles. Furthermore

the method is efficient

stable

robust

and diverse in styles. Specifically

the stability of the method is an order of magnitude higher than that of other methods. The proposed method can generate motions with good stability and changeable styles in certain degrees. The proportional derivative parameters and target poses are generated automatically through optimization

and only initial configuration sets are required. Our method can easily be learned by users with less professional skills. This study thus improves adaptability of motion generation methods based on motion controllers

and expands the application scope of motion controllers.