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학술지 Kinematic Skeleton Based Control of a Virtual Simulator for Military Training
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이소연, 박상준, 정교일, 조충호
Symmetry, v.7 no.2, pp.1043-1060
Virtual simulation technology has been considered as a highly efficient and cost-effective solution for a soldier training system, and evolved into diverse combinations of hardware and software. To maximize the virtual reality effect within a restricted space, a locomotion interface such as an omni-directional treadmill is introduced as a major component of a virtual simulator, therefore real time interaction between human and the virtual simulator becomes very important. Displacement and heading changes of the trainee are crucial information to control the virtual simulator when we implement highly reactive motion control for the omni-directional treadmill and interaction control of the virtual contents. This paper proposes a control parameter estimation algorithm for the virtual training simulator by using two types of motion capture sensors and presents the experimental results. Kinematic joint positions are analyzed to estimate the trainee's location and velocity for feedback and feedforward control of the omni-directional treadmill. The accuracy of two approaches is evaluated by comparing with the reference system, which gives a ground truth value.
KSP 제안 키워드
Feedforward control, Interaction control, Kinematic joint, Locomotion interface, Military training, Motion capture, Omni-directional, Parameter estimation algorithm, Reactive motion control, Real-Time, Reference System
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