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  The CableRobot Simulator: Large Scale Motion Platform Based on Cable Robot Technology

Miermeister, P., Lächele, M., Boss, R., Masone, C., Schenk, C., Tesch, J., et al. (2016). The CableRobot Simulator: Large Scale Motion Platform Based on Cable Robot Technology. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) (pp. 3024-3029). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A6A-1 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A6B-0
Genre: Conference Paper

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 Creators:
Miermeister, P1, 2, Author              
Lächele, M1, 2, 3, Author              
Boss, R1, 2, 3, Author              
Masone, C2, Author              
Schenk, C1, 2, 4, Author              
Tesch, J1, 2, 5, Author              
Kerger, M1, 2, 3, Author              
Teufel, H1, 2, 3, 4, Author              
Pott, A, Author
Bülthoff, HH1, 2, 4, Author              
Affiliations:
1Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
2Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
3Project group: Motion Perception & Simulation, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528705              
4Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
5Research Group Space and Body Perception, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528693              

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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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 Dates: 2016-10
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/IROS.2016.7759468
BibTex Citekey: MiermeisterLBMSTKTPB2016
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of Event: Daejeon, Korea
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3024 - 3029 Identifier: ISBN: 978-1-5090-3762-9