论文信息 - A Navigation Algorithm using Locomotion Interface with Two 6-DOF Robotic Manipulators (ICCAS 2005)

A Navigation Algorithm using Locomotion Interface with Two 6-DOF Robotic Manipulators (ICCAS 2005)

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

Jungwon Yoon | Jeha Ryu

[1] Stefan Hesse,et al. Design of a robotic walking simulator for neurological rehabilitation , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2] Jungwon Yoon,et al. A new family of hybrid 4-DOF parallel mechanisms with two platforms and its application to a footpad device , 2005, J. Field Robotics.

[3] Jungwon Yoon,et al. Design and analysis of a novel virtual walking machine , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[4] Jungwon Yoon,et al. Development of a 3-DOF Planar Parallel Robot (RRR Type) for Omni-directional Locomotion Interface , 2004 .

[5] J. H. Jin,et al. A Bridge Transported Bilateral Force-Reflecting Servo-Manipulator for Maintenance of Nuclear Pyroprocessing Equipment , 2005 .

[6] Seungwoo Kim,et al. A Development of Multi-Emotional Signal Receiving Modules for Cellphone Using Robotic Interaction , 2005 .

[7] Gerald P. Roston,et al. A whole body kinesthetic display device for virtual reality applications , 1997, Proceedings of International Conference on Robotics and Automation.