Title :
Real time virtual simulation of an underactuated pendulum-driven capsule system
Author :
Samarnggoon, Keattikorn ; Yu, Hongnian
Author_Institution :
Fac. of Comput., Eng. & Technol., Staffordshire Univ., Stafford, UK
Abstract :
In this paper, a real time virtual simulation framework which is the foundation for studying human adaptive mechatronics (HAM) is proposed. This framework allows researchers to interact and experiment with the system in real time. Thus, motion control patterns can be identified and learned with, for example, a heuristic strategy. The prototype is developed with an underactuated pendulum-driven capsule robot model. Motion control patterns are identified and presented. The experimentation results demonstrate the proposed concept.
Keywords :
digital simulation; human-robot interaction; identification; mechatronics; mobile robots; motion control; pendulums; virtual reality; HAM; heuristic strategy; human adaptive mechatronics; motion control pattern identification; motion control pattern learning; real-time virtual simulation framework; underactuated pendulum-driven capsule robot system; Adaptation models; Control systems; Humans; Mathematical model; Real-time systems; Robots; Torque; human adaptive mechatronics; pendulum capsule robot; real time system; underactuated systems; virtual environment;
Conference_Titel :
Control (CONTROL), 2012 UKACC International Conference on
Conference_Location :
Cardiff
Print_ISBN :
978-1-4673-1559-3
Electronic_ISBN :
978-1-4673-1558-6
DOI :
10.1109/CONTROL.2012.6334692
