Generating autonomous dynamic behavior for computer animation: A constrained optimal control approach

Author

Singh, Sunil K. ; Kumar, Alok ; Shi, Lin

Author_Institution

Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH, USA

fYear

1993

fDate

18-22 Sep 1993

Firstpage

422

Lastpage

428

Abstract

An extensive simulator has been developed to simulate the dynamics of an intelligent system. The simulation program is written in C and it runs on IBM RISC/6000 workstations in a UNIX environment. A graphical user interface using NGI (Northstar Graphics Interface) has been built and all the results are displayed graphically. The authors show the result obtained in trying to avoid several planes, the implementation result for pole balancing behavior, and the simulation result for hopping motion, when the maximum allowable acceleration during a hopping cycle is limited

Keywords

computer animation; control system analysis computing; digital simulation; dynamics; graphical user interfaces; legged locomotion; optimal control; robot dynamics; stability; IBM RISC/6000 workstations; NGI; Northstar Graphics Interface; UNIX environment; autonomous dynamic behavior; computer animation; constrained optimal control; graphical user interface; hopping motion; intelligent system dynamics; limited acceleration; plane avoidance; pole balancing behavior; simulation program; Acceleration; Animation; Automatic generation control; Computational modeling; Differential equations; Educational institutions; Nonlinear dynamical systems; Optimal control; Oscillators; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Virtual Reality Annual International Symposium, 1993., 1993 IEEE

Conference_Location

Seattle, WA

Print_ISBN

0-7803-1363-1

Type

conf

DOI

10.1109/VRAIS.1993.380749

Filename

380749