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

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

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
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 20083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
CityReno, NV
Period3/13/083/14/08

!!!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

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