NDLI: A novel framework for closed-loop robotic motion simulation

Content Provider	IEEE Xplore Digital Library
Author	Giordano, P.R. Masone, C. Tesch, J. Breidt, M. Pollini, L. Bülthoff, H.H.
Copyright Year	2010
Description	Author affiliation: Max Planck Institute for Biological Cybernetics, Spemannstraße 38, 72076 Tübingen, Germany (Giordano, P.R.; Tesch, J.; Breidt, M.; Bülthoff, H.H.) \|\| Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, Via Ariosto 25, 00185, Italy (Masone, C.) \|\| Dipartimento di Sistemi Elettrici e Automazione, Università di Pisa, Via Diotisalvi 2, 56126, Italy (Pollini, L.)
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. Experimental results are proposed to analyze the effectiveness of our approach. Part II [1] 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.
Starting Page	3876
Ending Page	3883
File Size	1768996
Page Count	8
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509647
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot motion Manipulators Robot kinematics Vehicles Anthropomorphism Computational modeling Acceleration Motion analysis Algorithm design and analysis Virtual environment
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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