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  Acceleration-level control of the CyberCarpet

De Luca, A., Mattone, R., & Robuffo Giordano, P. (2007). Acceleration-level control of the CyberCarpet. In 2007 IEEE International Conference on Robotics and Automation (pp. 2330-2335). Piscataway, NJ, USA: IEEE Service Center.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-CE13-7 Version Permalink: https://hdl.handle.net/21.11116/0000-0003-E312-8
Genre: Conference Paper

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https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4209431 (Publisher version)
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 Creators:
De Luca, A, Author
Mattone, R, Author
Robuffo Giordano, P1, Author           
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: The CyberCarpet is an actuated platform that allows unconstrained locomotion of a walking user for VR exploration. The platform has two actuating devices (linear and angular) and the motion control problem is dual to that of nonholonomic wheeled mobile robots. The main control objective is to keep the walker close to the platform center. We first recall global kinematic control schemes developed at the velocity level, i.e., with the linear and angular velocities of the platform as input commands. Then, we use backstepping techniques and the theory of cascaded systems to move the design to control laws at the acceleration level. Acceleration control is more suitable to take into account the limitations imposed to the platform motion by the actuation system and/or the physiological bounds on the human walker. In particular, the availability of platform accelerations allows the analytical computation of the apparent accelerations felt by the user.

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 Dates: 2007-04
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/ROBOT.2007.363667
BibTex Citekey: 5562
 Degree: -

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Title: IEEE International Conference on Robotics and Automation (ICRA 2007)
Place of Event: Roma, Italy
Start-/End Date: 2007-04-10 - 2007-04-14

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Title: 2007 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Service Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2330 - 2335 Identifier: ISBN: 1-4244-0602-1