Title :
Motion generation of robotic systems using finite automaton based on gradient flow
Author :
Yamakita, Masaki ; Sumiya, Toshiharu
Author_Institution :
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Abstract :
Many solutions to the control problem for motion synthesis have been proposed with application to computer animation. However, physical simulations do not produce natural motions unless the appropriate control functions are designed. In this paper, we propose a method to generate natural motions by using a finite automaton based on gradient flow, and apply it to motion pattern generation of a one legged robot´s gait to show the effectiveness of the proposed algorithm by a numerical simulation
Keywords :
computer animation; finite automata; legged locomotion; numerical analysis; computer animation; control problem; finite automaton; gradient flow; motion pattern generation; motion synthesis; natural motion generation; numerical simulation; one legged robot gait; physical simulations; robotic systems; Animation; Application software; Automata; Automatic control; Computational modeling; Control system synthesis; Legged locomotion; Motion control; Numerical simulation; Robotics and automation;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.816674
