A model predictive approach to control the motion of a virtual player in the mirror game
A model predictive approach to control the motion of a virtual player in the mirror game
复制标题
控制镜像游戏中虚拟玩家运动的模型预测方法
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
M. Bernardo
中科院分区：
文献类型：
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作者：
Chao Zhai;Francesco Alderisio;K. Tsaneva;M. Bernardo
在本文中，我们专注于设计一个反馈控制器，驱动一个虚拟的球员跟随或带领一个人的球员在镜子游戏。通过反馈控制的Haken-Kelso-Bunz（HKB）振荡器或阻尼谐波振荡器对虚拟玩家的末端效应器的运动进行建模，所述HKB振荡器或阻尼谐波振荡器与在真实的时间中测量的人类玩家的观察到的运动耦合。一个模型预测控制算法的虚拟球员生成类人的轨迹，同时保持个别电机签名，并保证有界的跟踪误差。基于原型系统的实验结果表明，我们的策略的有效性和其他现有的算法相比，其优势。
In this paper, we focus on the design of a feedback controller that drives a virtual player to follow or lead a human player in the mirror game. The movement of the end-effector of the virtual player is modeled by means of a feedback controlled Haken-Kelso-Bunz (HKB) oscillator or a damped harmonic oscillator, which is coupled with the observed motion of the human player measured in real time. A model predictive control algorithm is developed for the virtual player to generate humanlike trajectories while maintaining individual motor signature and guaranteeing bounded tracking error. Experimental results based on a prototype setup show the effectiveness of our strategy and its advantages over other existing algorithms.