Control of Virtual Motion
نویسندگان
چکیده
We introduce a new control problem: the control of motion simulating devices (Virtual Motion Systems , or VMS) for walking and running humans and robots in a fashion that feels most \realistic," that is, like locomoting on ground. After developing simpliied dynamical models for the VMS, the human/robot and the resulting coupled system, we cast the problem in terms of a performance index. This approach permits application of standard optimal control theory. We present two solutions and discuss upcoming problems in the task domain of virtual motion control.
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