论文标题
与新型动态刷模型结合使用伪谱的最佳控制的机器人书法
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
论文作者
论文摘要
中国书法是一种独特的艺术形式，具有巨大的艺术价值，但很难掌握。在本文中，我们将书法写作问题提出为轨迹优化问题，并提出了改进的虚拟刷模型，以模拟真实的写作过程。我们的方法的灵感来自伪最佳控制，因为我们将每个中风的执行器轨迹参数化为Chebyshev多项式。提出的动态虚拟刷模型在制定要优化的目标函数方面起着关键作用。我们的方法在绘制美学上令人愉悦的角色方面表现出了出色的表现，并且比以前的工作更有效地表现出色，从而打开了实现实时闭环控制的可能性。
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process. Our approach is inspired by pseudospectral optimal control in that we parameterize the actuator trajectory for each stroke as a Chebyshev polynomial. The proposed dynamic virtual brush model plays a key role in formulating the objective function to be optimized. Our approach shows excellent performance in drawing aesthetically pleasing characters, and does so much more efficiently than previous work, opening up the possibility to achieve real-time closed-loop control.
