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

doi:10.1109/CDC.2015.7402695

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 proceeding › Conference Contribution (Conference Proceeding)

16 Citations (Scopus)

322 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 language	English
Title of host publication	54th IEEE Conference on Decision and Control (CDC)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	3175-3180
Number of pages	6
ISBN (Electronic)	9781479978861
ISBN (Print)	9781479978847
DOIs	https://doi.org/10.1109/CDC.2015.7402695
Publication status	Published - Mar 2016
Event	54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan Duration: 15 Dec 2015 → 18 Dec 2015

Conference

Conference	54th IEEE Conference on Decision and Control, CDC 2015
Country/Territory	Japan
City	Osaka
Period	15/12/15 → 18/12/15

Structured keywords

Engineering Mathematics Research Group

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10.1109/CDC.2015.7402695

CDC_15_final
This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at http://dx.doi.org/10.1109/CDC.2015.7402695. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 1.83 MB

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@inproceedings{4e00fa9b1ae848319cba5f41bbc0c917,

title = "A model predictive approach to control the motion of a virtual player in the mirror game",

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.",

author = "Chao Zhai and Francesco Alderisio and Krasimira Tsaneva-Atanasova and {Di Bernardo}, Mario",

year = "2016",

month = mar,

doi = "10.1109/CDC.2015.7402695",

language = "English",

isbn = "9781479978847",

pages = "3175--3180",

booktitle = "54th IEEE Conference on Decision and Control (CDC)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",

}

Zhai, C, Alderisio, F, Tsaneva-Atanasova, K & Di Bernardo, M 2016, A model predictive approach to control the motion of a virtual player in the mirror game. in 54th IEEE Conference on Decision and Control (CDC)., 7402695, Institute of Electrical and Electronics Engineers (IEEE), pp. 3175-3180, 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, 15/12/15. https://doi.org/10.1109/CDC.2015.7402695

A model predictive approach to control the motion of a virtual player in the mirror game. / Zhai, Chao; Alderisio, Francesco; Tsaneva-Atanasova, Krasimira et al.
54th IEEE Conference on Decision and Control (CDC). Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 3175-3180 7402695.

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

TY - GEN

T1 - A model predictive approach to control the motion of a virtual player in the mirror game

AU - Zhai, Chao

AU - Alderisio, Francesco

AU - Tsaneva-Atanasova, Krasimira

AU - Di Bernardo, Mario

PY - 2016/3

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N2 - 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.

AB - 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.

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U2 - 10.1109/CDC.2015.7402695

DO - 10.1109/CDC.2015.7402695

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:84962013990

SN - 9781479978847

SP - 3175

EP - 3180

BT - 54th IEEE Conference on Decision and Control (CDC)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 54th IEEE Conference on Decision and Control, CDC 2015

Y2 - 15 December 2015 through 18 December 2015

ER -

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

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