Full metadata record

DC FieldValueLanguage
dc.contributor.author배지훈-
dc.contributor.author양우성-
dc.contributor.author김도익-
dc.contributor.author오용환-
dc.contributor.author유범재-
dc.contributor.author오상록-
dc.date.accessioned2015-12-03T00:37:59Z-
dc.date.available2015-12-03T00:37:59Z-
dc.date.issued201105-
dc.identifier.citation, 1404-1411-
dc.identifier.other34902-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/39749-
dc.description.abstractIn recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.-
dc.publisherICRA 2011-
dc.subjectrobot arm control-
dc.subjecthuman-like motion-
dc.subjectredundant robot-
dc.subjectmanipulation-
dc.titleRobotic Arm Control Inspired by Human Muscle Tension Effect under the Gravity-
dc.typeConference Paper-
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE