基于伪谱最优控制结合新型动态画笔模型的机器人书法
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
摘要：
中国书法是一种独特的艺术形式，具有很高的艺术价值，但很难掌握。本文将书法书写问题转化为一个轨迹优化问题，提出了一种改进的虚拟毛笔模型来模拟真实的书写过程。我们的方法是受伪谱最优控制的启发，我们参数化的驱动器轨迹为每个行程的切比雪夫多项式。提出的动态虚拟画笔模型在制定目标函数优化中起着关键作用。我们的方法在绘制美观的字符方面表现出出色的性能，并且比以前的工作效率更高，为实现实时闭环控制提供了可能性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
