Title :
Control of virtual motion systems
Author :
Moghaddam, Majid M. ; Buehler, Martin
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
The authors introduce a new control problem: the control of motion simulating devices (virtual motion systems (VMS)) for walking and running humans and robots in a fashion that feels most realistic, that is, like locomoting on ground. After developing simplified dynamical models for the VMS, the human/robot and the resulting coupled system, the authors cast the problem in terms of a performance index. This approach permits application of standard optimal control theory. They present two solutions and discuss upcoming problems in the task domain of virtual motion control
Keywords :
performance index; dynamical models; motion simulating devices; performance index; running; standard optimal control theory; task domain; virtual motion control; virtual motion systems; walking; Control systems; Humans; Intelligent robots; Legged locomotion; Mobile robots; Motion control; Orbital robotics; Robot control; Robot sensing systems; Voice mail;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583080
