Passivity based Control of Antagonistic Tendon-Driven Mechanism
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Junho | - |
dc.contributor.author | Hong, Geun Young | - |
dc.contributor.author | Choi, Youngjin | - |
dc.contributor.author | Peng, Dongliang | - |
dc.contributor.author | Lu, Qiang | - |
dc.date.accessioned | 2021-06-22T11:02:58Z | - |
dc.date.available | 2021-06-22T11:02:58Z | - |
dc.date.created | 2021-01-21 | - |
dc.date.issued | 2019-05 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/4683 | - |
dc.description.abstract | The paper presents a passivity-based control law for an antagonistic tendon-driven mechanism. It is proven, by using the passivity theorem, that the proposed control law is able to achieve two properties such as the passivity of interconnected subsystems when the external torque is applied and the global asymptotic stability during free motion when the external force is absent. The proposed controller is simple to be implemented for a complex tendon-driven mechanism because it requires only gravity compensation. In addition, it brings a robustness to the entire control system. And finally, the control strategy can be treated as one of the impedance control schemes so as to achieve the desired performance efficiently. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Passivity based Control of Antagonistic Tendon-Driven Mechanism | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Choi, Youngjin | - |
dc.identifier.doi | 10.1109/ICRA.2019.8794151 | - |
dc.identifier.scopusid | 2-s2.0-85071470197 | - |
dc.identifier.wosid | 000494942302043 | - |
dc.identifier.bibliographicCitation | 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp.3095 - 3100 | - |
dc.relation.isPartOf | 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | - |
dc.citation.title | 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | - |
dc.citation.startPage | 3095 | - |
dc.citation.endPage | 3100 | - |
dc.type.rims | ART | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | TORQUE CONTROL | - |
dc.subject.keywordPlus | JOINT | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/8794151 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
55 Hanyangdeahak-ro, Sangnok-gu, Ansan, Gyeonggi-do, 15588, Korea+82-31-400-4269 sweetbrain@hanyang.ac.kr
COPYRIGHT © 2021 HANYANG UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.