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Force feedback assisted balancing of inverted pendulum under manual control
Hua JN(化建宁); Cui YJ(崔玉洁); Shi P(石璞); Yang YH(杨艳华); Li HY(李洪谊)
Department机器人学研究室
Conference Name2013 4th International Conference on Intelligent Control and Information Processing, ICICIP 2013
Conference DateJune 9-11, 2013
Conference PlaceBeijing, China
Author of SourceUniversity of Illinois at Chicago; National Natural Science Foundation of China
Source PublicationProceedings of the 2013 International Conference on Intelligent Control and Information Processing, ICICIP 2013
PublisherIEEE Computer Society
Publication PlaceWashington, United States
2013
Pages776-781
Indexed ByEI ; CPCI(ISTP)
EI Accession number20133616702391
WOS IDWOS:000326374300150
Contribution Rank2
ISBN978-1-4673-6248-1
KeywordApplication Programming Interfaces (Api) Data Processing Intelligent Control Manual Control Pendulums Runge Kutta Methods
AbstractHuman motor and cognitive behavior has been considered as an important research content and received increased attention from academia. As a suitable platform, the inverted pendulum under manual control has been studied extensively, since the inverted pendulum is essentially a nonlinear system and strong coupling exists between the human operator and pendulum system. However, performance of the system when feedback force is provided has not been reported. This paper presents a virtual pendulum system which is built based on OpenGL, while control inputs are provided with a joystick. Dynamical model has been obtained though mathematical manipulation. In order to obtain more realistic effect, dynamical model is solved with Runge-kutta method. The joystick interface enables operators to control the pendulum manually, providing a fun experience. Comparative experiments have been carried out and the preliminary results confirm the performance difference when force/haptic information is provided to the operator. This study establishes the foundation for further research on cognitive behavior of human operators in human-machine interaction systems and neural control systems. © 2013 IEEE.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13913
Collection机器人学研究室
Recommended Citation
GB/T 7714
Hua JN,Cui YJ,Shi P,et al. Force feedback assisted balancing of inverted pendulum under manual control[C]//University of Illinois at Chicago; National Natural Science Foundation of China. Washington, United States:IEEE Computer Society,2013:776-781.
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