Alessandro De Luca

Elective in Robotics
(coordinator Prof. Leonardo Lanari)
Module of

Locomotion and haptic interfaces for VR exploration

Prof. Alessandro De Luca
Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti (DIAG)
Sapienza Università di Roma
Via Ariosto 25, 00185 Roma, Italy
office: A-210
tel: +39 06 77274 052
email: deluca [at] diag [dot] uniroma1 [dot] it


Academic year 2018/19 (second semester)

Material for this module
How to complete the credits for this module
Registration to exams

Aims: This module presents locomotion and haptic interfaces for VR exploration, giving special emphasis to control issues. It introduces in particular two haptic devices (Geomagic Touch and Cyberith Virtualizer/Oculus Rift) available in the DIAG Robotics Laboratory, with some applications. It summarizes also the research results obtained by our Robotics group (see here) within the European project Cyberwalk.

Detailed contents: General introduction to haptic and locomotion interfaces with several illustrative examples. Two specific hardware devices: the Geomatic Touch haptic interface; the Cyberith Virtualizer locomotion interface (with the Oculus Rift HMD). Possible applications of these interfaces. Design, construction, actuation, sensing, modelling, and system issues for two locomotion platforms for VR exploration, developed within the CyberWalk project: the CyberCarpet (ball-array) and the CyberWalk platform (2D, omni-directional). Control design and experimental validation for the CyberCarpet. Control design and experimental validation for a 1D treadmill. Control design, experimental validation, and perceptual evaluation for the 2D CyberWalk platform.

Prerequisites: This module has no strict prerequisites. However, it is suggested to have acquaintance with the basic topics of Robotics 1 and Robotics 2, or with those treated in Autonomous and Mobile Robotics.

ECTS credits for this module: 3 credits (out of 12 credits for the entire course).

Lectures for this module

Period: first part of second semester (February - April 2019; 4 to 6 weeks)
Begin: Tuesday, February 26, 2019
End: Thursday, April 11, 2019

Schedule:

Tuesday 14:00-16:00 (room A4; DIAG, Via Ariosto 25)
Thursday 14:00-17:00 (room A4; DIAG, Via Ariosto 25)

Distribution of students according to the course of study:

A.A. 2018/19: ...
A.A. 2017/18: 26 MARR (3 international), 7 MCER (2), 1 PhD Sapienza (-); Total: 34 students (30 present at first lecture)
A.A. 2016/17: 19 MARR (4 international), 2 MCER (2), 1 Erasmus (international); Total: 22 students (21 present at first lecture)
A.A. 2015/16: 8 MARR, 1 MCER, 1 PhD ABRO; Total: 10 students (10 present at first lecture)
A.A. 2014/15: 9 MARR; Total: 9 students (8 present at first lecture)
A.A. 2013/14: module not offered
A.A. 2012/13: 19 MARR (7 international), 1 Erasmus (international), 1 PhD student; Total: 21 students (21 present at first lecture)
A.A. 2011/12: 17 MARR (4 international); Total: 17 students (14 present at first lecture)
A.A. 2010/11: 14 MARR (5 international), 5 MELR, 2 MSIR; Total: 21 students (15 present at first lecture)

Material for this module

Teaching material (PDF of the lecture slides, videos, technical papers, etc.) is available hereafter:

#1 Haptic & LocomotionInterfaces_Intro.pdf (67 slides; last update on November 21, 2017)

26 videos to slides #1 (same order as in the slides)

#2 MotionControl_CyberwalkPlatforms_PartI.pdf (48 slides; last update on April 4, 2016)

15 videos to slides #2 (same order as in the slides)

#3 MotionControl_CyberwalkPlatforms_PartII.pdf (36 slides; last update on April 4, 2016)

9 videos to slides #3 (same order as in the slides)

#4 GeomagicTouch.pdf (26 slides; last update on December 1, 2017)

1 video to slides #4 (same order as in the slides)

How to complete the credits for this module

After attending classes, students should either give a presentation with slides on a certain topic (based on technical papers) or develop a small project (in general, involving simulations). Work can be done alone or in groups, typically by two students for presentations and three students for small projects. Presentations and projects should be completed by the end of December 2019.

Note that in order to obtain the 12 credits of Elective in Robotics, it is necessary to complete all four modules (each of 3 credits). Altogether, each student should give two (2) presentations and complete two (2) small projects. For more details, see the main page of Elective in Robotics.

Registration to exams

Please check the information in the main page of the Elective in Robotics course. In order to get the final grade (for 12 credits) you need to register only once, when you have acquired the credits of all modules.

Last update: July 26, 2018