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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)
作者部门机器人学研究室
会议名称2013 4th International Conference on Intelligent Control and Information Processing, ICICIP 2013
会议日期June 9-11, 2013
会议地点Beijing, China
会议主办者University of Illinois at Chicago; National Natural Science Foundation of China
会议录名称Proceedings of the 2013 International Conference on Intelligent Control and Information Processing, ICICIP 2013
出版者IEEE Computer Society
出版地Washington, United States
2013
页码776-781
收录类别EI
EI收录号20133616702391
产权排序2
ISBN号978-1-4673-6248-1
关键词Application Programming Interfaces (Api) Data Processing Intelligent Control Manual Control Pendulums Runge Kutta Methods
摘要Human 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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13913
专题机器人学研究室
推荐引用方式
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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