乐胖代购免代理版

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Graph."],"published-print":{"date-parts":[[2011,7]]},"abstract":"We present a general approach to creating realistic swimming behavior for a given articulated creature body. The two main components of our method are creature\/fluid simulation and the optimization of the creature motion parameters. We simulate two-way coupling between the fluid and the articulated body by solving a linear system that matches acceleration at fluid\/solid boundaries and that also enforces fluid incompressibility. The swimming motion of a given creature is described as a set of periodic functions, one for each joint degree of freedom. We optimize over the space of these functions in order to find a motion that causes the creature to swim straight and stay within a given energy budget. Our creatures can perform path following by first training appropriate turning maneuvers through offline optimization and then selecting between these motions to track the given path. 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