DocumentCode :
3695023
Title :
A walking horse dynamic model for generating sensations on a simulator at various walking speeds
Author :
Chan-Soon Lim;Oh-Hun Kwon;Jeong-Yean Yang;Hyung-Soon Park;Dong-Soo Kwon
Author_Institution :
Human-Robot Interaction Research Center at KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, Korea
fYear :
2015
Firstpage :
65
Lastpage :
70
Abstract :
A horseback riding simulator is developed to overcome challenges occurring on real horses. The goal of the simulator is to provide a real horseback riding-like sensation to the user in various situations with limited workspace. This paper focuses on generating various trajectories at different walking speeds with dynamic effects. A walking horse dynamic model is purposed based on a two-linked rimless wheel and is modified with 3D-captured data from a real horse. A controller is also designed for passing and compression-recoil modes, aiding in changing the models walking speed using speed change input. A dynamics simulation is performed and results show that the suggested walking model covers trajectory with measured data and shows more variation.
Keywords :
"Legged locomotion","Trajectory","Horses","Dynamics","Wheels","Torque","Data models"
Publisher :
ieee
Conference_Titel :
Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on
Type :
conf
DOI :
10.1109/ROMAN.2015.7333688
Filename :
7333688
Link To Document :
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