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C18

P. Robuffo Giordano, C. Masone, J. Tesch, M. Breidt, L. Pollini, H. H. Bülthoff. A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation. In IEEE Int. Conf. on Robotics and Automation, ICRA 2010, Pages 3896-3903, Anchorage, AS, USA, May 2010.

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Abstract

This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Simulation results are proposed to analyze the effectiveness of our approach. Part II will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car

BibTex Reference

@InProceedings{C18,
   Author = {Robuffo Giordano, P. and Masone, C. and Tesch, J. and Breidt, M. and Pollini, L. and H. Bülthoff, H.},
   Title = {{A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation}},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA 2010},
   Pages = {3896--3903},
   Address = {Anchorage, AS, USA},
   Month = {May},
   Year = {2010}
}

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