Visuomotor METHOD OF FULL-BODY MODELING BASED ON MODEL PREDICTIVE CONTROL WITH A VISUOMOTOR SYSTEM

摘要

A new model predictive control (MPC)-based full-body modeling method and apparatus using a visuomotor system that integrates visual recognition and full-body motion control. The full-body modeling method according to an embodiment determines a partial observation value of the state of the object based on the viewpoint of the character, estimates the state of the object based on the POMDP based on the partial observation value, and the estimated state of the object. and visualizing the motion of the character by controlling the state of the character according to the