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Motion generation of robotic systems using finite automaton based on gradient flow

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2 Author(s)
M. Yamakita ; Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan ; T. Sumiya

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

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Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on  (Volume:6 )

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