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

fYear

2012

fDate

3-5 Sept. 2012

Firstpage

568

Lastpage

573

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CONTROL.2012.6334692

Filename

6334692