Deutsch
 
Hilfe Datenschutzhinweis Impressum
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT
 
 
DownloadE-Mail
 DetailsÜbersicht
  The motion control problem for the CyberCarpet

De Luca, A., Mattone, R., & Robuffo Giordano, P. (2006). The motion control problem for the CyberCarpet. Proceedings of 2006 IEEE International Conference on Robotics and Automation (ICRA 2006), 3532-3537.

Item is

 

einblenden: alle ausblenden: alle

Basisdaten

einblenden: ausblenden:
Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-D1F1-F Versions-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-D1F2-D
Genre: Konferenzbeitrag

Externe Referenzen

einblenden:

Urheber

einblenden:
ausblenden:
 Urheber:
De Luca, A, Autor
Mattone, R, Autor
Robuffo Giordano, P1, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

Inhalt

einblenden:
ausblenden:
Schlagwörter: -
 Zusammenfassung: 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.

Details

einblenden:
ausblenden:
Sprache(n):
 Datum: 2006-05
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: URI: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1642241
BibTex Citekey: 5566
 Art des Abschluß: -

Veranstaltung

einblenden:
ausblenden:
Titel: IEEE International Conference on Robotics and Automation
Veranstaltungsort: Orlando, FL, USA
Start-/Enddatum: -

Entscheidung

einblenden:

Projektinformation

einblenden:

Quelle 1

einblenden:
ausblenden:
Titel: Proceedings of 2006 IEEE International Conference on Robotics and Automation (ICRA 2006)
Genre der Quelle: Zeitschrift
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE Operations Center
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 3532 - 3537 Identifikator: -