Force feedback assisted balancing of inverted pendulum under manual control
文献类型：会议论文
| 作者 | Hua JN(化建宁); Cui YJ(崔玉洁); Shi P(石璞); Yang YH(杨艳华); Li HY(李洪谊)
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| 出版日期 | 2013 |
| 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 |
| 关键词 | Application programming interfaces (API) Data processing Intelligent control Manual control Pendulums Runge Kutta methods |
| 页码 | 776-781 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议主办者 | University of Illinois at Chicago; National Natural Science Foundation of China |
| 会议录 | Proceedings of the 2013 International Conference on Intelligent Control and Information Processing, ICICIP 2013
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, United States |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-6248-1 |
| 源URL | [http://ir.sia.cn/handle/173321/13913]  |
| 专题 | 沈阳自动化研究所_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]. 见:2013 4th International Conference on Intelligent Control and Information Processing, ICICIP 2013. Beijing, China. June 9-11, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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