A novel framework for closed-loop robotic motion simulation - Part II: Motion cueing design and experimental validation

P. Robuffo Giordano, C. Masone, J. Tesch, M. Breidt, L. Pollini, H. H. Bülthoff

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

    27 Citations (Scopus)

    Abstract

    This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I [1], we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator.

    Original languageEnglish
    Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    Pages3896-3903
    Number of pages8
    DOIs
    Publication statusPublished - 2010
    Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
    Duration: 2010 May 32010 May 7

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    Country/TerritoryUnited States
    CityAnchorage, AK
    Period10/5/310/5/7

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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