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  A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation

Robuffo Giordano, P., Masone, C., Tesch, J., Breidt, M., Pollini, L., & Bülthoff, H. (2010). A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 3896-3903). Piscataway, NJ, USA: IEEE.

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Robuffo Giordano, P1, Autor           
Masone, C1, Autor           
Tesch, J1, Autor           
Breidt, M1, Autor           
Pollini, L2, Autor           
Bülthoff, HH1, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Zusammenfassung: This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I, we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator.

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 Datum: 2010-05
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
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 Identifikatoren: URI: http://icra2010.grasp.upenn.edu/
DOI: 10.1109/ROBOT.2010.5509945
BibTex Citekey: 6249
 Art des Abschluß: -

Veranstaltung

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Titel: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Veranstaltungsort: Anchorage, AS, USA
Start-/Enddatum: -

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Titel: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 3896 - 3903 Identifikator: -