Real time virtual simulation of an underactuated pendulum-driven capsule system

Abstract

In this paper, a real time virtual simulation framework which is the foundation for studying human adaptive mechatronics (HAM) is proposed. This framework allows researchers to interact and experiment with the system in real time. Thus, motion control patterns can be identified and learned with, for example, a heuristic strategy. The prototype is developed with an underactuated pendulumdriven capsule robot model. Motion control patterns are identified and presented. The experimentation results demonstrate the proposed concept.

Human skill performance to control an underactuated pendulum-driven capsule system

“…The work presented in this paper follows the concept from [21] which provides an interactive virtual simulation environment to allow human interaction with the system based on the HAM principle. However, instead of a single human operator learning heuristically to control and identify the possibilities of angle profile pattern of the pendulum-driven capsule system, a number of participants participate in this work allow performance measurement analysis from their control trials.…”

“…The model is adopted from [22] with additional proportional-integral-differential (PID) controller applied to control the input torque to achieve the desired angle of the pendulum. In other words, the same mathematical model in [21] is applied with additional PID controller. The PID controller constants -kP, kI, kD are 0.7, 0.7, and 6.0, respectively.…”