DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Noh, Junyong | - |
dc.contributor.advisor | 노준용 | - |
dc.contributor.author | Eom, Haegwang | - |
dc.date.accessioned | 2021-05-12T19:39:12Z | - |
dc.date.available | 2021-05-12T19:39:12Z | - |
dc.date.issued | 2020 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=908498&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/284101 | - |
dc.description | 학위논문(박사) - 한국과학기술원 : 문화기술대학원, 2020.2,[ii, 38 p. :] | - |
dc.description.abstract | This paper presents a Model Predictive Control (MPC) framework with a visuomotor system that synthesizes eye and head movements coupled with physics-based full-body motions while placing visual attention on objects of importance in the environment. As the engine of this framework, we propose a visuomotor system based on human visual perception and full-body dynamics with contacts. Relying on partial observations with uncertainty from a simulated visual sensor, an optimal control problem for this system leads to a Partially Observable Markov Decision Process (POMDP), which is difficult to deal with. We approximate it as a deterministic belief MDP for effective control. To obtain a solution for the problem efficiently, we adopt differential dynamic programming (DDP), which is a powerful scheme to find a locally optimal control policy for nonlinear system dynamics. Guided by a reference skeletal motion without any a priori gaze information, our system produces realistic eye and head movements together with full-body motions for various tasks such as catching a thrown ball, walking on stepping stones, balancing after being pushed, and avoiding moving obstacles. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | Visuomotor control▼aMotion control▼aPhysics-based simulation▼aPOMDP | - |
dc.subject | 시각운동 제어▼a동작 제어▼a물리 기반 시뮬레이션▼aPOMDP | - |
dc.title | Model predictive control with a visuomotor system for physics-based character animation | - |
dc.title.alternative | 물리 기반 캐릭터 애니메이션을 위한 시각운동 시스템을 결합한 모델 예측 제어 | - |
dc.type | Thesis(Ph.D) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :문화기술대학원, | - |
dc.contributor.alternativeauthor | 엄해광 | - |
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