Control design and experimental evaluation of the 2D CyberWalk platform

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

doi:10.1109/IROS.2009.5354610

Control design and experimental evaluation of the 2D CyberWalk platform

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

27 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 language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	5051-5058
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2009.5354610
Publication status	Published - 2009 Dec 11
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 2009 Oct 11 → 2009 Oct 15

Publication series

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

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	09/10/11 → 09/10/15

Bibliographical note

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.

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2009.5354610

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). Article 5354610 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354610

Control design and experimental evaluation of the 2D CyberWalk platform. / De Luca, Alessandro; Mattone, Raffaella; Giordano, Paolo Robuffo et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5051-5058 5354610 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

De Luca, A, Mattone, R, Giordano, PR & Bulthoff, HH 2009, Control design and experimental evaluation of the 2D CyberWalk platform. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354610, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 5051-5058, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 09/10/11. https://doi.org/10.1109/IROS.2009.5354610

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Control design and experimental evaluation of the 2D CyberWalk platform

Abstract

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Bibliographical note

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