Control of an Omnidirectional Walking Simulator

  • Manish Chauhan
  • C. G. Rajeevlochana
  • Subir Kumar Saha
  • S. P. Singh
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)


Simulators are a unique way of replicating any real world scenario. It gives one the opportunity to be in a place virtually without being present there physically. The motivation behind making this simulator was to replicate real world terrains and make a human walk in that environment. The basic application which acted as motivation was training people like soldiers, sportspersons and others on various terrains. Control of a prototype is reported in this paper. The prototype is an omnidirectional walking simulator that allows one to walk on it to get the feeling of walking on a horizontal levelled plane in any direction.


Virtual Environment Base Motor Motion Platform Belt Speed Treadmill Motor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Hollerbach, J.M., Xu, Y., Christensen, R., Jacobsen, S.C.: Design specifications for the second generation Sarcos Treadport locomotion interface. In: Haptics Symposium, Proc. ASME Dynamic Systems and Control Division, DSC, Orlando, vol. 69(2), pp. 1293–1298 (2000)Google Scholar
  2. 2.
    Hollerbach, J.M.: Locomotion Interfaces. In: Stanney, K. (ed.) Handbook of Virtual Environments: Design, Implementation and Applications, pp. 239–254. Lawrence Erlbaum, Mahwah (2002)Google Scholar
  3. 3.
    Hollerbach, J.M.: Locomotion interfaces,
  4. 4.
    Hollerbach, J.M., Grow, D., Parker, C.: Developments in locomotion interface. In: IEEE 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA (2005)Google Scholar
  5. 5.
    Brogan, D.C., Metoyer, R.A., Hodgins, J.K.: Dynamically simulated characters in virtual environments. IEEE Comp. Graphics and Applns. 15, 58–69 (1998)CrossRefGoogle Scholar
  6. 6.
    Templeman, J.N., Denbrook, P.S., Sibert, L.E.: Virtual locomotion: Walking in place through virtual environments. Presence-Teleoperators and Virtual Environments 8(6), 598–617 (1999)CrossRefGoogle Scholar
  7. 7.
    Iwata, H., Yano, H., Nakaizumi, F.: Gait Master: A versatile locomotion interface for uneven virtual terrain. In: Proc. of IEEE Virtual Reality 2001 Conference, pp. 131–137 (2001)Google Scholar
  8. 8.
    Huang, J.Y.: An omnidirectional stroll-based virtual reality interface and its application on overhead crane training. IEEE Transaction on Multimedia 5(1), 39–51 (2003)CrossRefGoogle Scholar
  9. 9.
    Iwata, H.: The Torus Treadmill: Realizing locomotion in VEs. IEEE Computer Graphics and Applications 9(6), 30–35 (1999)CrossRefGoogle Scholar
  10. 10.
    Iwata, H., Fuji, T.: Virtual Perambulator: A novel interface device for locomotion in virtual environments. In: Proc. of IEEE 1996 Virtual Reality Annual International Symposium, pp. 60–65. IEEE, Los Alamitos (1996)CrossRefGoogle Scholar
  11. 11.
    Darken, R.P., Cockayne, W.R., Carmein, D.: The Omnidirectional Treadmill: A Locomotion device for virtual worlds. In: Proc. of UIST 1997, pp. 213–221 (1997)Google Scholar
  12. 12.
    Noma, H., Miyasato, T.: Design for Locomotion Interface in a Large Scale Virtual Environment (Atlas: ATR Locomotion Interface for Active Self Motion). In: Proc. of American Society of Mechanical Engineers (ASME) Dynamic Systems and Control Division, pp. 111–118. ASME, New York (1998)Google Scholar
  13. 13.
    Noma, H., Sugihara, T., Miyasato, T.: Development of ground surface simulator for tel-E-merge system. In: Proc. IEEE Virtual Reality 2000, New Brunswick, NJ, pp. 217–224 (2000)Google Scholar
  14. 14.
    EU Project FP6-511092 (CyberWalk) (2005),

Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • Manish Chauhan
    • 1
  • C. G. Rajeevlochana
    • 1
  • Subir Kumar Saha
    • 1
  • S. P. Singh
    • 1
  1. 1.Department of Mechanical EngineeringIndian Institute of Technology DelhiHauz KhasIndia

Personalised recommendations