Haptic solutions and bio-mimetically inspired motion planning strategy for rolling-based locomotion

Igor Goncharenko, Mikhail Mikhailovich Svinin, Shigeyuki Hosoe, Yutaka Kanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A haptic system for verification of skillful human movements controlling locomotion of hemisphere on plane is presented. The dynamics model of the non-holonomic rolling system is derived, and a solver, required for the real-time haptic interaction, is implemented. Experimental motion data recorded by the haptic system are analyzed and common features of the human movement are found. Based on these features, a simple mechanical engine propelling the hemisphere is proposed and simulated. Different models of feedback haptic forces specific for non-holonomc system control are tested during the experiments.

Original languageEnglish
Title of host publicationSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics
Pages153-160
Number of pages8
DOIs
Publication statusPublished - Aug 25 2008
EventSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics - Reno, NV, United States
Duration: Mar 13 2008Mar 14 2008

Other

OtherSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics
CountryUnited States
CityReno, NV
Period3/13/083/14/08

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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