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  A Novel Framework for Closed-Loop Robotic Motion Simulation Part I: Inverse Kinematics Design

Robuffo Giordano, P., Masone, C., Tesch, J., Breidt, M., Pollini, L., & Bülthoff, H. (2010). A Novel Framework for Closed-Loop Robotic Motion Simulation Part I: Inverse Kinematics Design. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 3876-3883). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C036-D Version Permalink: https://hdl.handle.net/21.11116/0000-0006-A91D-C
Genre: Conference Paper

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https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5509647 (Publisher version)
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 Creators:
Robuffo Giordano, P1, 2, Author           
Masone, C, Author           
Tesch, J1, 2, Author           
Breidt, M1, 2, 3, Author           
Pollini, L, Author           
Bülthoff, HH1, 2, Author           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Project group: Cognitive Engineering, Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_2528702              

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 Abstract: This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Simulation results are proposed to analyze the effectiveness of our approach. Part II will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car.

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 Dates: 2010-05
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/ROBOT.2010.5509647
BibTex Citekey: 6247
 Degree: -

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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Place of Event: Anchorage, AS, USA
Start-/End Date: 2010-05-03 - 2010-05-07

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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3876 - 3883 Identifier: ISBN: 978-1-424-45038-1