Control design and experimental evaluation of the 2D CyberWalk platform

Alessandro De Luca, Raffaella Mattone, Paolo Robuffo Giordano, Heinrich H. Bulthoff

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages5051-5058
Number of pages8
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    De Luca, A., Mattone, R., Giordano, P. R., & Bulthoff, H. 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). [5354610] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354610