PD control - Siggraph 2016
Transcription
PD control - Siggraph 2016
Straightening Walking Path Using Redirected Walking Ayaka Nishi, Keisuke Hoshino, Hiroyuki Kajimoto Technique (The University of Electro-Communications, Japan) Abstract Virtually infinite space is a holy grail of immersive virtual environment (IVE), and numerous approaches have been proposed, yet there still is a hardware and spatial cost. We propose a novel low-cost locomotion interface that combines a 1-DoF treadmill and a head mounted display (HMD), in which displayed image is rotated to induce straightened trajectory for the treadmill, similar to the technique known as Redirected Walking. We conducted an experiment using the proposed method, and showed that by using PD control algorithm, the walking path became straightened. Related work Purpose The problem of using realistic Two-dimensional treadmill walking in a VRE Two-dimensional treadmills [1] to let users walk around a Unnatural walking wide VR space. A certain size of physical space High cost Redirected Walking Dedicated instrument technique The Redirected Walking ⇨It is difficult to spread technique [2] has also been used, and allow users the subjective experience of walking straight, whereas in reality their walking path is controlled by visual stimuli. Method The contribution of this paper Actual walking Low-cost Space-saving A new locomotion interface 1-DoF treadmill + Redirected Walking technique to make the walking path straight Users experiment without path control With path control Experiment 1 : Induction of Straight Walking Algorithms P control(d : the displacement along the x-axis) Rotate[degree/s] = 𝐾𝑝[degree/s/m]×𝑑[m] PD control( d : the displacement along the x-axis, 𝑉𝑥 : the velocity along the x-axis) Rotate = 𝐾𝑝×𝑑+ 𝐾𝑑[degree/m]×𝑉𝑥[m/s] Physical Path Result • possible to induce straight line walking • PD control gave smaller deflection • the path became more stable as the 𝐾𝑝 value increased Experiment 2 : Verification of Magnitude of Inducible Curvature Radius Result • When the radius of curvature is 2m or more, the walking path can be confined to a 1 m width ⇨These results indicate that the method can be applied to normal treadmill Reference [1] Hiro Iwata, “The Torus Treadmill: Realizing Locomotion in VEs.” Computer Graphics and Applications, IEEE, Volume: 19, Issue: 6, pag [2] Sharif Razzaque, Zachariah Kohn, Mary C. Whitton. “Redirected Walking.” Eurographics 2001.