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A 3DoF-Sidestick User Interface for Four Wheel Independent Steering Vehicles

Panzirsch, Michael and Weber, Bernhard (2015) A 3DoF-Sidestick User Interface for Four Wheel Independent Steering Vehicles. In: IEEE Intelligent Vehicles Symposium 2015. IEEE Intelligent Vehicles Symposium 2015, 28. Jun. - 01. Jul. 2015, Seoul, Korea.

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Abstract

In the past few years x-by-wire has evolved into the trend-setting technology in the field of transport. It allows for the design of new modular vehicle concepts such as the robotic electric vehicle ROboMObil. Through its four wheel robots, which can be accelerated, decelerated and steered independently, a highly maneuverable design is achieved. A fully actuated three degree of freedom sidestick is proposed in this paper as a haptic interface to the three horizontal degrees of motion of the ROboMObil. The main focus lies on the user access to the rear wheel steering behavior or to the instantaneous center of rotation respectively. Two approaches have been designed and analyzed to improve the robustness against pilot induced oscillations.

Item URL in elib:https://elib.dlr.de/98301/
Document Type:Conference or Workshop Item (Poster)
Title:A 3DoF-Sidestick User Interface for Four Wheel Independent Steering Vehicles
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, Michaelmichael.panzirsch (at) dlr.deUNSPECIFIED
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Date:2015
Journal or Publication Title:IEEE Intelligent Vehicles Symposium 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Sidestick, 4WIS, four wheel steering, ICR
Event Title:IEEE Intelligent Vehicles Symposium 2015
Event Location:Seoul, Korea
Event Type:international Conference
Event Dates:28. Jun. - 01. Jul. 2015
Organizer:ITSS International Transportation Systems Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:06 Oct 2015 14:32
Last Modified:06 Oct 2015 14:32

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