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  A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation

Robuffo Giordano, P., Masone, C., Tesch, J., Breidt, M., Pollini, L., & Bülthoff, H. (2010). A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 3896-3903). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C038-9 Version Permalink: http://hdl.handle.net/21.11116/0000-0003-1C7B-5
Genre: Conference Paper

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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, 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.

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 Dates: 2010-05
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/ROBOT.2010.5509945
BibTex Citekey: 6249
 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: 3896 - 3903 Identifier: ISBN: 978-1-4244-5038-1