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  The motion control problem for the CyberCarpet

De Luca, A., Mattone, R., & Robuffo Giordano, P. (2006). The motion control problem for the CyberCarpet. In 2006 IEEE International Conference on Robotics and Automation (pp. 3532-3537). Piscataway, NJ, USA: IEEE Operations Center.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-D1F1-F Version Permalink: https://hdl.handle.net/21.11116/0000-0004-9BDB-7
Genre: Conference Paper

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https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1642241 (Publisher version)
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 Creators:
De Luca, A, Author
Mattone, R, Author
Robuffo Giordano, P1, Author           
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: Exploration of virtual worlds with unconstrained
locomotion possibilities for the user is the main objective of the
European research project CyberWalk. This should be achieved
through the use of an actuated platform (the CyberCarpet) that
compensates for the walker’s locomotion in such a way to keep
her/him close to the platform center. This paper presents the
control problem for the platform motion, including objectives
and constraints, overall control architecture, and kinematic
modeling. Since the platform has only two actuating devices
(linear and angular), the control problem is similar to that of
output regulation for nonholonomic wheeled mobile robots in
the presence of an unpredictable disturbance due to walker’s
locomotion. Based on the kinematic model, a velocity control
design achieving input-output decoupling and linearization is
proposed and its performance is verified by simulations.

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 Dates: 2006-05
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: BibTex Citekey: 5566
DOI: 10.1109/ROBOT.2006.1642241
 Degree: -

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Title: IEEE International Conference on Robotics and Automation (ICRA 2006)
Place of Event: Orlando, FL, USA
Start-/End Date: 2006-05-15 - 2006-05-19

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Title: 2006 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE Operations Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3532 - 3537 Identifier: ISBN: 0-7803-9505-0