A model predictive approach to control the motion of a virtual player in the mirror game

Chao Zhai, Francesco Alderisio, Krasimira Tsaneva-Atanasova, Mario Di Bernardo

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

11 Citations (Scopus)
240 Downloads (Pure)

Abstract

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.

Original languageEnglish
Title of host publication54th IEEE Conference on Decision and Control (CDC)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3175-3180
Number of pages6
ISBN (Electronic)9781479978861
ISBN (Print)9781479978847
DOIs
Publication statusPublished - Mar 2016
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: 15 Dec 201518 Dec 2015

Conference

Conference54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period15/12/1518/12/15

Fingerprint Dive into the research topics of 'A model predictive approach to control the motion of a virtual player in the mirror game'. Together they form a unique fingerprint.

Cite this