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- Keyword
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- Simulation (131)
- Virtual reality (41)
- Genetic algorithm (40)
- Numerical simulation (40)
- Path planning (36)
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- Modeling and simulation (34)
- Particle swarm optimization (34)
- Deep learning (33)
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- Fault diagnosis (27)
- Digital twin (25)
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- Reinforcement learning (22)
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- Optimization (19)
- System dynamics (19)
- Virtual simulation (18)
- Complex network (17)
- Traffic simulation (17)
- Permanent magnet synchronous motor (16)
- UAV (16)
- Unity3D (16)
- Energy consumption (15)
- Support vector machine (15)
- Collision detection (14)
- Deep reinforcement learning (14)
- Parameter identification (14)
- Publication Year
Articles 901 - 930 of 3363
Full-Text Articles in Physical Sciences and Mathematics
Cold Load Prediction Model Based On Improved Pso-Bp Algorithm, Junqi Yu, Wenqiang Jing, Anjun Zhao, Yanhuan Ren, Zhou Meng, Xinle Huang, Yang Xue
Cold Load Prediction Model Based On Improved Pso-Bp Algorithm, Junqi Yu, Wenqiang Jing, Anjun Zhao, Yanhuan Ren, Zhou Meng, Xinle Huang, Yang Xue
Journal of System Simulation
Abstract: Aiming at the low correlation between input and output data and the error of prediction model in PSO-BP neural network prediction model, a combined prediction method based on JMP, PSO-BP neural network and Markov chain is proposed. The method first uses JMP data processing software to process the input data and eliminating the low coupling degree samples, then conducts PSO-BP neural network training to obtain the cold load prediction results, and finally uses markov chain to eliminate the random errors generated by the system to obtain the final prediction results. The results show that the combined prediction method has …
Architecture Design Of An Emergency Command Simulation Exercise Platform Based On Tena, Peng Zhang, Qinfu Li
Architecture Design Of An Emergency Command Simulation Exercise Platform Based On Tena, Peng Zhang, Qinfu Li
Journal of System Simulation
Abstract: Based on the analysis of the current situation and development needs of the emergency command simulation exercise platform and the common characteristics of most emergency command case scenarios, an emergency command simulation exercise platform architecture based on TENA (Test and Training Enabling Architecture) is designed and put forward, which can expand various simulation models such as disaster accidents, disaster-bearing subjects, higher-lower linkage command organizations, rescue forces, natural environment, etc. in a multi-granularity and modular manner, and interface with various exercise support and analysis evaluation tools, as well as heterogeneous systems such as external three-dimensional simulation, virtual reality/augmented reality equipment …
Uncertainty Quantitative Analysis In Risk Assessment Of Returning To School In The Post-Covid-19 Era, Haibin Li, Jialiang Wang, Haiyan Li
Uncertainty Quantitative Analysis In Risk Assessment Of Returning To School In The Post-Covid-19 Era, Haibin Li, Jialiang Wang, Haiyan Li
Journal of System Simulation
Abstract: After the epidemic, taking the spread of the epidemic in returning to school as an example, a quantitative risk assessment study is conducted. Taking the activity trajectory description of the whole process of susceptible individuals from infection to isolation as a clue, an epidemiological model for risk assessment is established. The number of infected persons in the risk indicators of returning to school is quantified based on the quantified model parameters. According to the value characteristics of the parameters, the number of infected persons is taken as a function of discrete random variables. The probability distribution of the infected …
Evolutionary Simulation Of Online Public Opinion Based On The Bert-Lda Model Under Covid-19, Muni Zhuang, Li Yong, Tan Xu, Taitian Mao, Kaicheng Lan, Lining Xing
Evolutionary Simulation Of Online Public Opinion Based On The Bert-Lda Model Under Covid-19, Muni Zhuang, Li Yong, Tan Xu, Taitian Mao, Kaicheng Lan, Lining Xing
Journal of System Simulation
Abstract: The construction of a large-scale online public opinion evolution simulation model has guidance value for differentiated emergency management and public opinion guidance in the worst-hit areas in Wuhan and the other areas in China during the outbreak of the COVID-19. In order to realize the fine-grained simulation of the public sentiment evolution of the topic, the LDA topic model is deeply integrated with BERT word vector to optimize the topic vector and power the text topic clustering. At the same time, on the basis of improving BERT pre-training task, the deep pre-training task is superimposed to improve the accuracy …
Threat Assessment For The Defense Penetration Paths Of Air Strike Aircrafts Based On Radar Chart, Shengli Liu, Wang Gang
Threat Assessment For The Defense Penetration Paths Of Air Strike Aircrafts Based On Radar Chart, Shengli Liu, Wang Gang
Journal of System Simulation
Abstract: Threat assessment for the defense penetration paths of air strike aircrafts provides important evidence for evaluating and improving the deployment of air defense. Considering that traditional threat assessment methods are difficult to intuitively reflect the threat degree of each path and the value of each evaluation indicator, a novel method of threat assessment for defense penetration paths based on radar chart is proposed. The threat assessment indicator system for the defense penetration paths of air strike aircrafts is put forward. The weights of threat assessment indicators are calculated by the group decision analytic hierarchy process (AHP) and the method …
Research On Particle Filter Algorithm Based On Improved Grey Wolf Algorithm, Weigang Li, Li Yang, Yuntao Zhao, Baokang Yan
Research On Particle Filter Algorithm Based On Improved Grey Wolf Algorithm, Weigang Li, Li Yang, Yuntao Zhao, Baokang Yan
Journal of System Simulation
Abstract: The traditional particle filter algorithm is prone to particle depletion and weight degradation, and a large number of particles are needed to make an accurate estimation of non-linear system. A novel particle filter algorithm based on grey wolf optimization algorithm is proposed. The particles are employed to characterize the individuals of grey wolf and simulate the process of wolf hunting, which makes the particles move to the high likelihood region of posterior probability and improve the rationality of the distribution of the particles. Levy flight strategy is introduced in grey wolf algorithm to improve the convergence speed. The adaptive …
Research On Virtual Simulation Training System For Multi-Position Collaborative Operation In Oilfields, Xianmei Liu, Jia Di, Liu Fang
Research On Virtual Simulation Training System For Multi-Position Collaborative Operation In Oilfields, Xianmei Liu, Jia Di, Liu Fang
Journal of System Simulation
Abstract: Aiming at the demands of multi-position collaborative operation in oilfields, the virtual simulation training system for multi-position collaborative operation in oilfields is studied. It shows the development mode and architecture of the system which uses the user perception environment to obtain data for the autonomous decision, and uses the collision detection process to simulate the interaction between user and device. The co-simulation strategy and the network communication protocol are designed. The room management is used to ensure that the scenes in the group are consistent in real time and the scenarios between the groups are independent. The Non-Player Character(NPC) …
Joint Low Rank And Sparsity-Based Channel Estimation For Fdd Massive Mimo, Zhou Jin
Joint Low Rank And Sparsity-Based Channel Estimation For Fdd Massive Mimo, Zhou Jin
Journal of System Simulation
Abstract: Channel estimation of millimeter wave communication needs large system load. In order to reduce the load, a low-rank and sparse feature of the wireless channel is combined, and a channel estimation algorithm framework based on non-convex low-rank approximation is proposed. Aiming at the large computation of the channel model-based dictionary learning algorithm, a dictionary learning algorithm for deep neural network channel feature classification is designed. The simulation shows that the average square error of the proposed method is better than the channel model-based dictionary learning method, the channel estimation method under the Bayesian framework, and the compressed …
Impact Analysis Of Gun-On Target Parameters On The Blunting Effect Of The Soft Protective Human Body, Sun Fei, Wenmin Yan, Junbin Zhang, Yongjuan Wang, Xu Cheng
Impact Analysis Of Gun-On Target Parameters On The Blunting Effect Of The Soft Protective Human Body, Sun Fei, Wenmin Yan, Junbin Zhang, Yongjuan Wang, Xu Cheng
Journal of System Simulation
Abstract: In order to research the blunt impact effect of target-entry parameters of pistol bullets, the finite element models of the soft upper body of the pistol blunt with a soft-protected human body are developed. By hitting the heart, lung, liver and stomach at three target-entry velocities, the impact response of pistol bullet impacting on human torso with soft armor is numerically calculated by finite element method. The simulation results quantitatively reveal the pressure transmission mechanism of the human body with blunt body armor at different target speeds and positions and the law of blunt impact response at different target …
Overview Of Optimization Problems Regarding Emergency Organization Allocation Based On Mathematical Programming, Cejun Cao, Congdong Li
Overview Of Optimization Problems Regarding Emergency Organization Allocation Based On Mathematical Programming, Cejun Cao, Congdong Li
Journal of System Simulation
Abstract: To improve the utilization of human resources in large-scale natural disasters and reduce various losses, how to use mathematical programming approach to optimize emergency organization allocation strategy is the currently urgent and critical issue. A decision framework or conceptual model for emergency organization allocation optimization is proposed. The current status of mathematical programming model for emergency organization allocation is presented from the perspective of task sequence and objective quantity. An overview on the exact and heuristic algorithm to solve the proposed model is conducted. Potential issues for in-depth study with respect to simulation and modeling of emergency organization allocation …
A Quantization-Based Integration Method For Stiff Ordinary Differential Equations, Zhihua Li, Jiang De, Chenjia Wu, Zhihua Fan
A Quantization-Based Integration Method For Stiff Ordinary Differential Equations, Zhihua Li, Jiang De, Chenjia Wu, Zhihua Fan
Journal of System Simulation
Abstract: QSS(Quantized State System) has advantages over the traditional time-discrete integration methods in solving general ordinary differential equation (ODE) systems, but it is not suitable for solving the stiff ODE systems. To effectively solve the stiff ODE systems, a step-correction optimization algorithm based on QSS (SCOA based-on QSS) is proposed, which combines the ideas of the QSS method and the implicit trapezoidal integral method. The simulation results of three typical stiff ODE cases show that the SCOA based-on QSS algorithm has advantages over other algorithms, and the simulation accuracy can be significantly improved by appropriately reducing the quantum size.
Research On Intelligent Design And Simulation Method Of Screw Machine Process, Guodong Sun, Qichang He
Research On Intelligent Design And Simulation Method Of Screw Machine Process, Guodong Sun, Qichang He
Journal of System Simulation
Abstract: Aiming at the difficulty during the process design of the automatic screw machines, such as low efficiency and poor quality, a screw machine process design and verification system is developed. Supported by image recognition technology, the system would automatically obtain the quantity and the locations of the screwing holes from the top view. An optimization model will be established to optimize the tightening sequence of the screw according to RSA (Radar Spiral Algorithm) and improved genetic algorithm. An integration is conducted into Tecnomatix to simulate those optimized sequence in case of collision. The results indicate that the …
Traversal Path Planning And Simulation Of Robot Based On Radiation Scanning, Bin Lin, Guanghui Han, Chenchen Song, Yajing Zhang
Traversal Path Planning And Simulation Of Robot Based On Radiation Scanning, Bin Lin, Guanghui Han, Chenchen Song, Yajing Zhang
Journal of System Simulation
Abstract: Aiming at the high repetition rate and many turns of robot paths based on BINN algorithm, an ITPPA combining the template model and the RS algorithm is proposed. The BINN algorithm is used to formulate the non-obstacle walking strategy. Multiple obstacle avoidance path templates are designed to ensure that the robot could avoid obstacles in an orderly manner. RS algorithm is used to guide the robot to escape the dead zone quickly. Simulation results show that, compared with BINN algorithm, ITPPA could not only effectively reduce the path repetition rate and the number of turning and energy consumption …
Improved Wolf Pack Algorithm For Distribution Of Molds On Molds Table, Zhonghua Han, Yuehan Liu, Li Man, Liangliang Sun, Hongzhi Zheng
Improved Wolf Pack Algorithm For Distribution Of Molds On Molds Table, Zhonghua Han, Yuehan Liu, Li Man, Liangliang Sun, Hongzhi Zheng
Journal of System Simulation
Abstract: In order to solve the problem of the distribution of molds on the mold table in the production process of concrete prefabricated components, a method combining Bottom-Left Algorithm (BLA) and Improved Wolf Pack Algorithm (IWPA) is proposed. Improved Wolf Pack Algorithm is for optimizing the order of upper line and the mold used for each member is sequentially assigned to the mold table according to the upper line. BLA is used to determine the direction and position of the molds on the molds table. The WPA safari behavior is improved by introducing Levi's flying ideas and the Hamming …
Collision Simulation Analysis Of Sam Movable Guardrail, Hongjun Cui, Sixue Li, Minqing Zhu, Li Xia
Collision Simulation Analysis Of Sam Movable Guardrail, Hongjun Cui, Sixue Li, Minqing Zhu, Li Xia
Journal of System Simulation
Abstract: Aiming at the problem of low anti-collision grade of the movable guardrail at the opening of the central divding belt of the expressway, a SAm-level concrete movable guardrail and a new connecting device are proposed. Based on the finite element method, the collision model between the vehicle and the guardrail is established, and the collision process is also calculated by LS-DYNA. According to the collision results of different vehicle types, the safety performance of the guardrail is evaluated in terms of cushioning, blocking and guiding performance. The OIV value is less than 12 m/s for small vehicles' collision with …
Simulation Research On Abandonment Rate Of Contact Center Based On Patience Threshold, Junxiang Li, Wanbin Zang
Simulation Research On Abandonment Rate Of Contact Center Based On Patience Threshold, Junxiang Li, Wanbin Zang
Journal of System Simulation
Abstract: Customer abandonment rate is an important indicator to measure the service level of contact center. Customers in a traditional call center follow the principle of first come, first served, but some customers will be lost in the queuing process because of their limited patience. In this regard, by setting the customer's patience threshold and considering adding a specific agent channel to the member customers, or adjusting the number of agent channels under the original staffing, a new contact center queuing model is established based on the traditional call center model. The ProModel simulation software is used to study the …
Real-Time Prediction Of Primary Flow By Mpc Method In Heating System, Zhongbo Li, Jia Meng, Kang Yan, Haihong Wang, Li Miao, Lü Qing, Jingjing Xie, Dajun Fang
Real-Time Prediction Of Primary Flow By Mpc Method In Heating System, Zhongbo Li, Jia Meng, Kang Yan, Haihong Wang, Li Miao, Lü Qing, Jingjing Xie, Dajun Fang
Journal of System Simulation
Abstract: Based on the model predictive control method, this paper uses the discrete controlled autoregressive model to establish the dynamic heat transfer delay model of the secondary network and the thermal station model. The polynomial fitting method of machine learning algorithm is applied to identify and calibrate the parameters of the secondary network model and the thermal station model. The primary flow rate of the heating station under future operating conditions is predicted based on the model results, which provides a basis for the quality-based regulation of heating system. The model is verified by measured data, and the actual …
Cpm-Ga For Multi-Satellite And Multi-Task Simulation Scheduling, Liheng Mao, Deng Qing, Rouni Liu, Xianglong Kong
Cpm-Ga For Multi-Satellite And Multi-Task Simulation Scheduling, Liheng Mao, Deng Qing, Rouni Liu, Xianglong Kong
Journal of System Simulation
Abstract: With the increase of the number of satellites and targets, the space for solving satellite task planning increases rapidly. For large-scale multi-satellite and multi-task planning, a hierarchical optimization method, which consists of Critical Path Method (CPM) and Genetic Algorithm (GA) is proposed. The method decomposes the satellite task planning into two subproblems: task allocation and single-satellite task processing. Task allocation is realized by GA and a task allocation result corresponds to an individual of the population. The CPM is used in the single-satellite task processing to solve the fitness of each individual, which improves the optimization efficiency, ensures the …
Modeling And Simulation Of Physical Layer Security Strategy In Two-Way Cognitive Networks, Pan Lei, Li Zan, Zhili Zhang, Xiangyang Li
Modeling And Simulation Of Physical Layer Security Strategy In Two-Way Cognitive Networks, Pan Lei, Li Zan, Zhili Zhang, Xiangyang Li
Journal of System Simulation
Abstract: In order to improve the performance of the mobile communication system, the physical layer security transmission models of a two-way cognitive relay network with the primary network and eavesdropper are established, and a joint optimization strategy for relay selection and power allocation is proposed to protect the source-destination transmission against the eavesdropper. It can be seen from the simulation analysis that this non-convex optimization problem has many restrictions, and it is difficult to guarantee the feasibility of the initial solution generated randomly by the PSO algorithm, resulting in the difficulty of obtaining solution. Therefore, a hybrid optimization algorithm based …
Research On Double Input Motion Somatosensory Algorithm Based On Logic Control, Wang Hui, Yingtao Liu
Research On Double Input Motion Somatosensory Algorithm Based On Logic Control, Wang Hui, Yingtao Liu
Journal of System Simulation
Abstract: Aiming at the two-input classic washout algorithm in the flight simulator, there are problems such as loss of perceived angular velocity signal, phase error, and insufficient fidelity. A logic control washing-out algorithm is proposed. Based on the vestibular system theory, the classic washout algorithm is used to improve the high-pass angular velocity channel structure. A logic controller and an angular displacement continuous generator are designed to optimize the coupling angular velocity in the high-pass angular velocity channel and the tilt coordination channel and stabilize the jump change washout angular displacement, so the improved algorithm is more consistent with the …
Visualization Of Finite Element Analysis Deformation Results Based On Hololens, Jinli Xu, Zhou Zheng
Visualization Of Finite Element Analysis Deformation Results Based On Hololens, Jinli Xu, Zhou Zheng
Journal of System Simulation
Abstract: An UWP application of virtual review of the finite element analysis based on Microsoft HoloLens is developed by using Unity3D software. A set of programs are completed to realize three-dimensional solid static finite element analysis in Matlab. To realize the visualization of the deformation effect, the useful information of the finite element analysis result is extracted and exported to VTK file, then converted into DAE file. A vertex shader is written in Unity3D software to realize the color display and the visualization of deformation effect of one-sided model, and finally the UWP application is released to HoloLens. The test …
Study On Ultimate Carrying Capacity And Regulation Methods Of Urban Atmospheric Environment, Guangqiu Huang, Wenxin Wang
Study On Ultimate Carrying Capacity And Regulation Methods Of Urban Atmospheric Environment, Guangqiu Huang, Wenxin Wang
Journal of System Simulation
Abstract: In order to solve the calculation problem of the ultimate carrying capacity of the atmospheric environment, the calculation formula of the ultimate carrying capacity of the atmospheric environment is proposed, and the system dynamics model with the ‘pollution index-energy' compliance as the constraint is constructed according to the urban energy planning, namely the PI-E-SD(Pollution Indicator-Energy-System Dynamics) model. In this model, the linear regression method is used to determine the pollution index, which solves the non-uniformity problem. The SD-modeling method is used to construct the “energy-economy-environment” simulation system, so that the government measures can be quantified to make the prediction …
Safety Evaluation And Risk Level Prediction Of Driving Behavior Considering Multi-Factors Influence, An Yu, Pengpeng Jiao, Zixiu Bai
Safety Evaluation And Risk Level Prediction Of Driving Behavior Considering Multi-Factors Influence, An Yu, Pengpeng Jiao, Zixiu Bai
Journal of System Simulation
Abstract: In order to study the influence of multi-factors of human-vehicle-road on driving behavior and vehicle safety status in road traffic system, a simulated driving comparison test of six scenarios combined by multiple factors is designed. Driving simulator, physiography and eye tracker are used to collect 19 indicators related to driving behavior respectively. The differences of sample data are compared by variance analysis. The nonlinear SVM(support vector machine) is used to classify and predict the sample data. The driving behavior risk level prediction model is established, and the validity of the model is verified by the experimental data. The …
Research On Precision Parking Control Method For Emu Inbound Process, Zhongqi Li, Yueshuang Xing
Research On Precision Parking Control Method For Emu Inbound Process, Zhongqi Li, Yueshuang Xing
Journal of System Simulation
Abstract: By analyzing the relationship between braking force and speed during the stop-stop process of high-speed EMU(Electric Multiple Units), the multi-point dynamics model of EMU is constructed. The Smith predictor is introduced due to the delay effect on the system caused by the braking force generated during the late braking, and the RBF(Radial Basis Function) neural network-based PID control strategy is combined with the Smith predictor to achieve tracking control of a given speed during braking. Simulation analysis shows that the error of train speed and set speed controlled by RBF neural network PID-Smith controller is less than ±1 …
Research On Sins/Gnss/Train-Speed Integrated Navigation Algorithm, Wang Ke, Ligang Liu, Bin Zhou, Zhiyong Bu
Research On Sins/Gnss/Train-Speed Integrated Navigation Algorithm, Wang Ke, Ligang Liu, Bin Zhou, Zhiyong Bu
Journal of System Simulation
Abstract: The precise train positioning under complicated railway environment has been a key technical challenge for train navigation currently. In the conventional solutions, in case of satellite signals being weak or indiscernible, the task of positioning has to be undertaken by SINS alone. This will cause some serious error-accumulation problems, especially when low-cost inertial devices are used. In order to solve this problem, we propose a novel integrated train navigation algorithm, which includes two working modes. The SINS/GNSS mode is designed for the situation that satellite signals are valid, whereas the SINS/wheel-speed mode is for the weak signal environments. Both …
Study On Validation Of Simulation Models Based On Weight Matrix Gray Relational Analysis, Xiaolei Ning, Yingxia Wu, Zhanqi Chen
Study On Validation Of Simulation Models Based On Weight Matrix Gray Relational Analysis, Xiaolei Ning, Yingxia Wu, Zhanqi Chen
Journal of System Simulation
Abstract: When used to validation of simulation models, ordinary gray relational analysis (GRA) usually stresses the similarity but ignores the nearness between the simulation test time series and flight test time series, while the nearness is part of model error. To reduce the risk in application of GRA to validation of simulation models, a new matrix gray relational analysis was proposed, which was in view of the similarity and the nearness between the simulation test time series and flight test time series, so it had a higher accuracy and reliability. The new model could solve the relational analysis problem with …
Research On Simplified Approach Of Multi-Physics Coupling Simulation, Xuegong Sun, Liu Jing
Research On Simplified Approach Of Multi-Physics Coupling Simulation, Xuegong Sun, Liu Jing
Journal of System Simulation
Abstract: Multi- physics coupling simulation of aircraft is a highly coupled and advanced nonlinear process. Traditionally, the data of professional model was collected through engineering algorithm, experience. The over- simplfied approach reduced the accuracy of the simulation result. Therefore, a simplified but effective approach according to the characteristics of each multi-physics coupling model needed to be found. Through multi- physics coupling simulation research which focused on the main contradictions and engineering requirements, ignores minor contradictions, depending on characteristics of the various couplings and application requirements, the simplified approach and conclusions were put forward and verified by examples.
Inventory M Lodels With Transshipment Collaboration Among Bases Supporting Different Geographical Regions, Jinhong Zhong, Cheng Hao, Zhou Yun
Inventory M Lodels With Transshipment Collaboration Among Bases Supporting Different Geographical Regions, Jinhong Zhong, Cheng Hao, Zhou Yun
Journal of System Simulation
Abstract: A multi location inventory system composed of a depot and several bases that covers diferent geographical regions was addressed, where there was bidirectional transshipment between the locations at the same region, and unidirectional transshipment between the locations at the different region. Each location in the system faced isolated Poisson distribution demand and adopted continuous review (S-1, S) policy. According to the M/G/S/S queue theory, birth and death process model and approximate calculation thought, the inventory models for the loss sales case and backorder case were established respectively. A discrete event simulation procedure for the inventory system was designed to …
Simulation Of Multiple Diffraction For Uwb Signals Under Nlos Environment, Han Tao, Jianxun Song, Hongcheng Wang
Simulation Of Multiple Diffraction For Uwb Signals Under Nlos Environment, Han Tao, Jianxun Song, Hongcheng Wang
Journal of System Simulation
Abstract: A time domain (TD) solution based on uniform theory of diffraction-physical optics (UTD-PO) was presented to analyze the multiple diffraction propagation characteristics of UWB signals under NLOS environment. The solution provided a simplified method, which utilized a recursion relation and did not need to incorporate the slope diffraction in the transition zone. The channel impulse response of the renowned Bertoni models was derived and the received signals could be predicted through a simple operation of convolution. The numerical results show that the proposed solution based on UTD-PO can find application in the analysis of multiple diffi-action and significantly reduces …
Method For Real-Time Controllable Step-Length Human Leg Continuous Walking Motion Generation, Shuxu Jing, Zhang Di, Tinglei Zhang, Shaoxin Yuan
Method For Real-Time Controllable Step-Length Human Leg Continuous Walking Motion Generation, Shuxu Jing, Zhang Di, Tinglei Zhang, Shaoxin Yuan
Journal of System Simulation
Abstract: Based on a free walking description model which is not capable of step length control, an iteration algorithm was proposed for solving the corresponding straight walking motion according to the given single step length which could be continuously adjusted. The problem of smooth transition between two consecutive walking steps was solved by pose-wise Bezier weighting, which kept the starting and ending poses of a walking step constant. Continuous straight leg walking motion with continuously varied step length could be generated real-timely. The proposed method provided a solution for real-time continuoxis leg walking motion generation with known step lengths in …