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

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

doi:10.1109/HAPTICS.2008.4479936

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

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

工学研究院

研究成果: 書籍/レポートタイプへの寄稿 › 会議への寄与

抄録

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.

本文言語	英語
ホスト出版物のタイトル	Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics
ページ	153-160
ページ数	8
DOI	https://doi.org/10.1109/HAPTICS.2008.4479936
出版ステータス	出版済み - 8月 25 2008
イベント	Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics - Reno, NV, 米国継続期間: 3月 13 2008 → 3月 14 2008

その他

その他	Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics
国/地域	米国
City	Reno, NV
Period	3/13/08 → 3/14/08

!!!All Science Journal Classification (ASJC) codes

人工知能
人間とコンピュータの相互作用
制御およびシステム工学

文献へのアクセス

10.1109/HAPTICS.2008.4479936

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引用スタイル

Haptic solutions and bio-mimetically inspired motion planning strategy for rolling-based locomotion. / Goncharenko, Igor; Svinin, Mikhail Mikhailovich; Hosoe, Shigeyuki その他.

Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics. 2008. p. 153-160 4479936.

研究成果: 書籍/レポートタイプへの寄稿 › 会議への寄与

Goncharenko, I, Svinin, MM, Hosoe, S & Kanou, Y 2008, Haptic solutions and bio-mimetically inspired motion planning strategy for rolling-based locomotion. in Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics., 4479936, pp. 153-160, Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics, Reno, NV, 米国, 3/13/08. https://doi.org/10.1109/HAPTICS.2008.4479936

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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.",

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

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その他

!!!All Science Journal Classification (ASJC) codes

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