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

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.<
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