Control of Virtual Motion Systems

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 simplified 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. Figure 1: Legged robot on a treadmill 1 Introduction Sensation in Artificial Reality environments could be considerably enriched if we could provide a realistic simulation of locomotion [6]. People could walk and run in any direction, without limitation, while guided by visual and auditory impressions from their head mounted displays. At the same time, however, they would not go anywhere, because they are moving on a "virtual motion ..