According to existing motions, the algorithm adopts a warping function represented by multi -level B-spline function to generate detailed motion level by level in order to get the goal motion.
该算法根据已有的运动，采用多级B -样条表示的规整函数产生不断细化的运动，从而得到最终的目标运动。
The method based on the cubic B-spline function, beam vibration function (or trigonometric functions) and variation principle.
这个方法是建立在三次样条函数、梁振动函数(或三角函数)及变分原理基础上。
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