Learning a Dynamic Horse Walking Model for a Simulator using Dynamical Movement Primitives

被引：0

作者：

Lim, Chan-Soon ^{[1
]}

Yang, Jeong-Yean ^{[1
]}

Kwon, Dong-Soo ^{[2
]}

机构：

[1] Korea Adv Inst Sci & Technol, Telerobot & Control Lab, Daejeon 305701, South Korea

[2] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon 305701, South Korea

来源：

2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2016年

关键词：

Horse riding simulator; horse walking dynamic model; dynamical movement primitives; RIDING SIMULATOR;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Horse riding simulators are developed to provide entertainment and for performing rehabilitation. To provide a clear sensation of various situations, a dynamic horse model is required. We learned a horse walking model with dynamical movement primitives (DMPs) using a configuration with two linked rimless wheels. A transformation system is designed to deal with the stride function in the model, and an extra tau(dcs) term is included to deal with the rider's speed aids. A simulation is performed, and the result shows the advantages and disadvantages of the proposed method.

引用

页码：174 / 177

页数：4

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