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キーワード:
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要旨:
The CyberCarpet is an actuated platform that allows unconstrained
locomotion possibilities to a walking user for VR exploration. The platform has
two actuating devices (linear and angular) and the motion control problem is dual
to that of nonholonomic wheeled mobile robots. The main control objective is to
keep the walker close to the platform center. Simple but global kinematic control
schemes are presented, addressing in particular the handling of singularity issues.
The feedback stabilizing part, which is based only on the users pose information, is
complemented by a feedforward term derived from on a walkers velocity observer.
Numerical and graphical simulation results are presented.
