P. Robuffo Giordano, C. Masone, J. Tesch, M. Breidt, L. Pollini, H. H. Bülthoff. A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design. In IEEE Int. Conf. on Robotics and Automation, ICRA 2010, Pages 3876-3883, Anchorage, AS, USA, May 2010.
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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, 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
@InProceedings{C19,
Author = {Robuffo Giordano, P. and Masone, C. and Tesch, J. and Breidt, M. and Pollini, L. and H. Bülthoff, H.},
Title = {{A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design}},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA 2010},
Pages = {3876--3883},
Address = {Anchorage, AS, USA},
Month = {May},
Year = {2010}
}
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