The omni-directional treadmill: a locomotion device for virtual worlds
Proceedings of the 10th annual ACM symposium on User interface software and technology
The Torus Treadmill: Realizing Locomotion in VEs
IEEE Computer Graphics and Applications
IEEE Computer Graphics and Applications
Procedural modeling of buildings
ACM SIGGRAPH 2006 Papers
Walking improves your cognitive map in environments that are large-scale and large in extent
ACM Transactions on Computer-Human Interaction (TOCHI)
CyberWalk: Enabling unconstrained omnidirectional walking through virtual environments
ACM Transactions on Applied Perception (TAP)
Learning to walk in virtual reality
ACM Transactions on Applied Perception (TAP)
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The CyberWalk is a large size 2D omni-directional platform that allows unconstrained locomotion possibilities to a walking user for VR exploration. In this paper we present the motion control design for the platform, which has been developed within the homonymous European research project. The objective is to compensate the intentional motion of the user, so as to keep her/him always close to the platform center while limiting the perceptual effects due to actuation commands. The controller acts at the acceleration level, using suitable observers to estimate the unmeasurable intentional walker's velocity and acceleration. A moving reference position is used to limit the accelerations felt by the user in critical transients, e.g, when the walker soddenly stops motion. Experimental results are reported that show the benefit of designing separate control gains in the two orthognnal directions (lateral and sagittal) of a frame attached to the walker.