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  Control design and experimental evaluation of the 2D CyberWalk platform

De Luca, A., Mattone R, Robuffo Giordano, P., & Bülthoff, H. (2009). Control design and experimental evaluation of the 2D CyberWalk platform. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) (pp. 5051-5058). Piscataway, NJ, USA: IEEE Service Center.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C27C-3 Version Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C27D-1
Genre: Conference Paper

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 Creators:
De Luca, A, Author
Mattone R, Robuffo Giordano, P1, Author              
Bülthoff, HH1, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, escidoc:1497797              

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 Abstract: The CyberWalk is a large size 2D omni-directional platform that allows unconstrained locomotion possibilities to a walking user for VR exploration. In this paper we present the motion control design for the platform, which has been developed within the homonymous European research project. The objective is to compensate the intentional motion of the user, so as to keep her/him always close to the platform center while limiting the perceptual effects due to actuation commands. The controller acts at the acceleration level, using suitable observers to estimate the unmeasurable intentional walker‘s velocity and acceleration. A moving reference position is used to limit the accelerations felt by the user in critical transients, e.g., when the walker suddenly stops motion. Experimental results are reported that show the benefit of designing separate control gains in the two orthogonal directions (lateral and sagittal) of a frame attached to the walker.

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 Dates: 2009-10
 Publication Status: Published in print
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Title: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
Place of Event: St. Louis, MO, USA
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Title: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Service Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 5051 - 5058 Identifier: -