The CableRobot simulator large scale motion platform based on Cable Robot technology

Philipp Miermeister; Maria Lächele; Rainer Boss; Carlo Masone; Christian Schenk; Joachim Tesch; Michael Kerger; Harald Teufel; Andreas Pott; Heinrich Bulthoff

doi:10.1109/IROS.2016.7759468

The CableRobot simulator large scale motion platform based on Cable Robot technology

Philipp Miermeister, Maria Lächele, Rainer Boss, Carlo Masone, Christian Schenk, Joachim Tesch, Michael Kerger, Harald Teufel, Andreas Pott, Heinrich Bulthoff

Department of Brain and Cognitive Engineering

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

83 Citations (Scopus)

Abstract

This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod simulators. This approach allows to reduce the actuated mass, scale up the workspace significantly, and provides great flexibility to switch between system configurations in which the robot can be operated. The simulator will be used for studies in the field of human perception research and virtual reality applications. The paper dicusses some of the issues arising from the usage of cables and provides a system overview regarding kinematics and system dynamics as well as giving a brief introduction into possible application use cases.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3024-3029
Number of pages	6
Volume	2016-November
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759468
Publication status	Published - 2016 Nov 28
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 2016 Oct 9 → 2016 Oct 14

Other

Other	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	16/10/9 → 16/10/14

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2016.7759468

Cite this

Miermeister, P., Lächele, M., Boss, R., Masone, C., Schenk, C., Tesch, J., Kerger, M., Teufel, H., Pott, A., & Bulthoff, H. (2016). The CableRobot simulator large scale motion platform based on Cable Robot technology. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 3024-3029). Article 7759468 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759468

The CableRobot simulator large scale motion platform based on Cable Robot technology. / Miermeister, Philipp; Lächele, Maria; Boss, Rainer et al.
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. p. 3024-3029 7759468.

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

Miermeister, P, Lächele, M, Boss, R, Masone, C, Schenk, C, Tesch, J, Kerger, M, Teufel, H, Pott, A & Bulthoff, H 2016, The CableRobot simulator large scale motion platform based on Cable Robot technology. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759468, Institute of Electrical and Electronics Engineers Inc., pp. 3024-3029, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 16/10/9. https://doi.org/10.1109/IROS.2016.7759468

Miermeister P, Lächele M, Boss R, Masone C, Schenk C, Tesch J et al. The CableRobot simulator large scale motion platform based on Cable Robot technology. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November. Institute of Electrical and Electronics Engineers Inc. 2016. p. 3024-3029. 7759468 doi: 10.1109/IROS.2016.7759468

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abstract = "This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod simulators. This approach allows to reduce the actuated mass, scale up the workspace significantly, and provides great flexibility to switch between system configurations in which the robot can be operated. The simulator will be used for studies in the field of human perception research and virtual reality applications. The paper dicusses some of the issues arising from the usage of cables and provides a system overview regarding kinematics and system dynamics as well as giving a brief introduction into possible application use cases.",

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AU - Bulthoff, Heinrich

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The CableRobot simulator large scale motion platform based on Cable Robot technology

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