Adaptive motion synthesis and motor invariant theory.

Generating natural-looking motion for virtual characters is a challenging research topic. It becomes even harder when adapting synthesized motion to interact with the environment. Current methods are tedious to use, computationally expensive and fail to capture natural looking features. These difficulties seem to suggest that artificial control techniques are inferior to their natural counterparts. Recent advances in biology research point to a new motor control principle: utilizing the natural dynamics. The interaction of body and environment forms some patterns, which work as primary elements for the motion repertoire: Motion Primitives. These elements serve as templates, tweaked by the neural system to satisfy environmental constraints or motion purposes. Complex motions are synthesized by connecting motion primitives together, just like connecting alphabets to form sentences. Based on such ideas, this thesis proposes a new dynamic motion synthesis method. A key contribution is the insight into dynamic reason behind motion primitives: template motions are stable and energy efficient. When synthesizing motions from templates, valuable properties like stability and efficiency should be perfectly preserved. The mathematical formalization of this idea is the Motor Invariant Theory and the preserved properties are motor invariant In the process of conceptualization, newmathematical tools are introduced to the research topic. The Invariant Theory, especially mathematical concepts of equivalence and symmetry, plays a crucial role. Motion adaptation is mathematically modelled as topological conjugacy: a transformation which maintains the topology and results in an analogous system. The Neural Oscillator and Symmetry Preserving Transformations are proposed for their computational efficiency. Even without reference motion data, this approach produces natural looking motion in real-time. Also the new motor invariant theory might shed light on the long time perception problem in biological research

Analysis of fast bipedal walking using mechanism of actively controlled wobbling mass

In this study, a novel approach was developed to achieve fast bipedal walking by using an actively controlled wobbling mass. Bipedal robots capable of achieving energy efficient limit cycle walking have been developed, and researchers have studied methods to increase their walking speed. When humans walk, their arm swinging is coordinated with the walking phases, generating a regular symmetrical motion about the torso. The bipedal robots with a wobbling mass in the torso mimicked the arm swinging by the proposed control method. We demonstrated that the proposed method is capable of increasing the bipedal walking speed

Dynamics of the Inertia Coupled Rimless Wheel with Frictional Losses and Actuation

The Inertia Coupled Rimless (ICR) wheel is a mechanically simple walking device capable of energy efficient motion. Typically, walking robots that are capable of level ground transport are extremely energy inefficient. To address this performance issue, the ICR wheel was examined while considering real-world frictional losses. The ICR wheel has been previously shown to be capable of collisionless, periodic motion, but until now, the ICR wheel had only been examined as an ideal, theoretical model. The inertia device within the system was tested to determine both the magnitude of energy loss due to damping and a suitable model for its motion. Fitting friction models to the experimental results showed that the a visciously damped model most accurately represented the system\u27s motion. Simulations revealed that the ICR wheel with friction would be capable of walking passively on a ramp with half stable, periodic walking, but the collisionless motion was lost. An actuation scheme was designed in simulation to allow an ICR wheel with damping to achieve collisionless motion on level ground. Experimental testing of a passive ICR wheel on a $3^o$ ramp showed that a cost of transport of at least 0.052 is possible with this system. Simulations suggest that, with the inclusion of an actuation scheme, the cost of transport for the same system on level ground could be as low as 0.024. Understanding how to overcome frictional losses lays the foundation for the creation of a walking robot capable of level ground transport with significantly less energy use than current models are capable of achieving

Compact Anthology of World Literature II: Volumes 4, 5, and 6

The Compact Anthology of World Literature, Parts 4, 5, and 6 is designed as an e-book to be accessible on a variety of devices: smart phone, tablet, e-reader, laptop, or desktop computer. Students have reported ease of accessibility and readability on all these devices. To access the ePub text on a laptop, desktop, or tablet, you will need to download a program through which you can read the text. We recommend Readium, an application available through Google. If you plan to read the text on an Android device, you will need to download an application called Lithium from the App Store. On an iPhone, the text will open in iBooks. Affordable Learning Georgia has also converted the .epub files to PDF. Because .epub does not easily convert to other formats, the left margin of the .pdf is very narrow. ALG recommends using the .epub version. Although the text is designed to look like an actual book, the Table of Contents is composed of hyperlinks that will take you to each introductory section and then to each text. The three parts of the text are organized into the following units: Part 4—The Seventeenth and Eighteenth Centuries Unit I: The Age of Reason Unit II: The Near East and Asia Part 5—The Long Nineteenth Century Unit I Romanticism Unit II Realism Part 6—The Twentieth Century and Contemporary Literature Unit I Modernism Unit II Postcolonial Literature Unit III Contemporary Literature Texts from a variety of genres and cultures are included in each unit. Additionally, each selection or collection includes a brief introduction about the author and text(s), and each includes 3 – 5 discussion questions. Texts in the public domain--those published or translated before 1923--are replicated here. Texts published or translated after 1923 are not yet available in the public domain. In those cases, we have provided a link to a stable site that includes the text. Thus, in Part 6, most of the texts are accessible in the form of links to outside sites. In every case, we have attempted to connect to the most stable links available. The following texts have been prepared with the assistance of the University of North Georgia Press in its role as Affordable Learning Georgia\u27s Partner Press. Affordable Learning Georgia partners with the University of North Georgia Press to assist grantees with copyright clearance, peer review, production and design, and other tasks required to produce quality Open Educational Resources (OER). The University Press is a peer-reviewed, academic press. Its mission is to produce scholarly work that contributes to the fields of innovative teaching, textbooks, and Open Educational Resources. Affordable Learning Georgia Textbook Transformation Grant funds may be used for services provided by the Press. To determine how the University Press can assist ALG grantees or anyone interested in developing OER with ALG, the University Press will provide advance free consultations. Please contact the Press at 706-864-1556 or [email protected]. “Textbook Transformation Grants” from Affordable Learning Georgia Accessible files with optical character recognition (OCR) and auto-tagging provided by the Center for Inclusive Design and Innovation.https://oer.galileo.usg.edu/english-textbooks/1018/thumbnail.jp