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

Igor Goncharenko; Mikhail 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 Svinin, Shigeyuki Hosoe, Yutaka Kanou

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English
Title of host publication	Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics
Pages	153-160
Number of pages	8
DOIs	https://doi.org/10.1109/HAPTICS.2008.4479936
Publication status	Published - 2008
Externally published	Yes
Event	Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics - Reno, NV, United States Duration: Mar 13 2008 → Mar 14 2008

Publication series

Name	Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics

Other

Other	Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics
Country/Territory	United States
City	Reno, NV
Period	3/13/08 → 3/14/08

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/HAPTICS.2008.4479936

Cite this

Goncharenko, I., Svinin, M., 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 (pp. 153-160). Article 4479936 (Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics). https://doi.org/10.1109/HAPTICS.2008.4479936

Haptic solutions and bio-mimetically inspired motion planning strategy for rolling-based locomotion. / Goncharenko, Igor; Svinin, Mikhail; Hosoe, Shigeyuki et al.
Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics. 2008. p. 153-160 4479936 (Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Goncharenko, I, Svinin, M, 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, Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics, pp. 153-160, Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics, Reno, NV, United States, 3/13/08. https://doi.org/10.1109/HAPTICS.2008.4479936

Goncharenko I, Svinin M, Hosoe S, Kanou Y. 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. 2008. p. 153-160. 4479936. (Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics). doi: 10.1109/HAPTICS.2008.4479936

Goncharenko, Igor ; Svinin, Mikhail ; Hosoe, Shigeyuki et al. / Haptic solutions and bio-mimetically inspired motion planning strategy for rolling-based locomotion. Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics. 2008. pp. 153-160 (Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics).

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

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