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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 walkers 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 walkers
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.
