Skip to main content
SpringerLink
Log in

A Novel Planar Walking Algorithm for Virtual Walking Machine

  • Conference paper
Advances in Artificial Reality and Tele-Existence (ICAT 2006)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 4282))

Included in the following conference series:

Abstract

This paper proposes a novel planar walking algorithm for the Virtual Walking Machine (VWM), which is a dual foot platform type locomotion interface. Unlike existing algorithms used for VWM, the proposed algorithm utilizes a constraint relationship between two platforms as well as position control. Experiments on the VWM show that the proposed planar walking algorithm can generate straight and turning motions which are smoother and collision-free.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Hollerbach, J.M.: Locomotion interface. In: Stanney, K.M. (ed.) Handbook of Virtual Environments Technology, pp. 239–254. Lawrence Erlbaum Associates, Inc., Mahwah (2002)

    Google Scholar 

  2. Noma, H., Miyasato, T.: A New Approach for Canceling Turning Motion in the Locomotion Interface, ATLAS. In: ASME DSC, vol. 67, pp. 405–407 (1999)

    Google Scholar 

  3. Iwata, H., Yano, H., Nakaizumi, F.: Gait Master: a versatile locomotion interface for uneven virtual terrain. In: Proceedings of the IEEE Virtual Reality, March 13-17, pp. 131–137 (2001)

    Google Scholar 

  4. Iwata, H., Yano, H., Nakaizumi, F., Noma, H.: CirculaFloor. IEEE Computer Graphics and Applications 25(1), 64–67 (2005)

    Article  Google Scholar 

  5. Yoon, J., Park, J., Ryu, J.: Walking Control of a Dual-Planar Parallel Robot for Omni-directional Locomotion Interface. In: IEEE/RSJ International Conference on IROS 2005, August 2-6, pp. 1151–1156 (2005)

    Google Scholar 

  6. Orendurff, M.S., Segal, A.D., Berge, J.S., Flick, K.C., Spanier, D., Klute, G.K.: The kinematics and kinetics of turning: limb asymmetries associated with walking a circular path. Gait & Posture 23, 106–111

    Google Scholar 

  7. Courtine, G., Schieppati, M.: Turning of a Basic Coordination Pattern Constructs Straight-Ahead and Curved Walking in Humans. Journal of Neurophysiology 91, 1524–1535 (2004)

    Article  Google Scholar 

  8. Darken, R., Cockayne, W., Carmein, D.: The Omni-Directional Treadmill: A Locomotion Device for Virtual Words. In: Proc. of User Interface Software Technology (UIST 1997), pp. 213–222 (1997)

    Google Scholar 

  9. Iwata, H.: The Torus Treadmill:Realizing Locomotion in VEs. IEEE Computer Graphics and Applications 19(6), 30–35 (1999)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Human-Machine-Computer Interface Lab., Dept. of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, Korea

    Jangwoo Park, Yo-An Lim & Jeha Ryu

  2. School of Mechanical & Aerospace Engineering, Gyeongsang National University, Jinju, Korea

    Jungwon Yoon

Authors
  1. Jangwoo Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jungwon Yoon
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yo-An Lim
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jeha Ryu
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. State Key Lab of CAD and CG, Zhejiang University, Hangzhou, P.R. China

    Zhigeng Pan

  2. Mixed Reality Lab, National University of Singapore, Singapore

    Adrian Cheok

  3. Upper Austria University of Applied Science and Digital Media, Hagenberg, Austria

    Michael Haller

  4. Department of Computer Science, University of Durham, South Road, DH1 3LE, Durham, UK

    Rynson W. H. Lau

  5. Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi Kohoku-ku, 223-8522, Yokohama, Japan

    Hideo Saito

  6. College of Information Engineering, Zhejiang University of Technology, 310032, Hangzhou, P.R. China

    Ronghua Liang

Rights and permissions

Reprints and permissions

Copyright information

© 2006 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Park, J., Yoon, J., Lim, YA., Ryu, J. (2006). A Novel Planar Walking Algorithm for Virtual Walking Machine. In: Pan, Z., Cheok, A., Haller, M., Lau, R.W.H., Saito, H., Liang, R. (eds) Advances in Artificial Reality and Tele-Existence. ICAT 2006. Lecture Notes in Computer Science, vol 4282. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11941354_122

Download citation

  • DOI: https://doi.org/10.1007/11941354_122

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-49776-9

  • Online ISBN: 978-3-540-49779-0

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation