TY - GEN
T1 - Control design and experimental evaluation of the 2D CyberWalk platform
AU - De Luca, Alessandro
AU - Mattone, Raffaella
AU - Giordano, Paolo Robuffo
AU - Bulthoff, Heinrich H.
N1 - Funding Information:
ACKNOYJLEDGEMENT. This research was partially supported by GNSAGA of CNR and was done while the second author was at the University of Rome supported by a grant within the Italian Hungarian cultural exchange program.
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=76249118066&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354610
DO - 10.1109/IROS.2009.5354610
M3 - Conference contribution
AN - SCOPUS:76249118066
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 5051
EP - 5058
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -