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Konferenzbeitrag

Feedback/Feedforward Schemes for Motion Control of the CyberCarpet

MPG-Autoren
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Zitation

De Luca, A., Mattone, R., & Robuffo Giordano, P. (2006). Feedback/Feedforward Schemes for Motion Control of the CyberCarpet. Proceedings of the 8th International IFAC Symposium on Robot Control (SYROCO 2006), 1-7.


Zitierlink: http://hdl.handle.net/11858/00-001M-0000-0013-D043-1
Zusammenfassung
The CyberCarpet is an actuated platform that allows unconstrained locomotion possibilities to a walking user for VR exploration. The platform has two actuating devices (linear and angular) and the motion control problem is dual to that of nonholonomic wheeled mobile robots. The main control objective is to keep the walker close to the platform center. Simple but global kinematic control schemes are presented, addressing in particular the handling of singularity issues. The feedback stabilizing part, which is based only on the user’s pose information, is complemented by a feedforward term derived from on a walker’s velocity observer. Numerical and graphical simulation results are presented.