%0 Conference Proceedings
%F C19
%A Robuffo Giordano, P.
%A Masone, C.
%A Tesch, J.
%A Breidt, M.
%A Pollini, L.
%A H. Bülthoff, H.
%T {A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design}
%B IEEE Int. Conf. on Robotics and Automation, ICRA 2010
%P 3876-3883
%C Anchorage, AS, USA
%X This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I, we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator
%U http://rainbow-doc.irisa.fr/pdf/paolo/ICRA10_0304_FI.pdf
%U http://dx.doi.org/10.1109/ROBOT.2010.5509945
%8 May
%D 2010