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임피던스 제어를 통한 와이어 플라잉 시스템의 충격력 최소화Minimization of Impact Force Of Wire Flying System Using Impedance Control
- Other Titles
- Minimization of Impact Force Of Wire Flying System Using Impedance Control
- Issue Date
- May-2011
- Publisher
- 제어로봇시스템학회
- Keywords
- Wire Flying System(와이어 플라잉 시스템); Biped Robot(바이페드 로봇); Impedance Control(임피던스 제어); Impact Force(충격힘); Performance(공연)
- Citation
- 제어로봇시스템학회 국내학술대회 논문집, no. , pp.730 - 734
- Indexed
- OTHER
- Journal Title
- 제어로봇시스템학회 국내학술대회 논문집
- Start Page
- 730
- End Page
- 734
- Abstract
- This paper proposes Four-Cable-Wire Flying System. When this system performs with hanging biped robot, it is possible to bump into unexpected obstacles or contact to walls or bottom unknown location, resulting in large contact force. Impedance control is proposed to alleviate this contact force. In this work, the impedance control was applied at the level of motion of the bipled robot and the motion of the wires. The comparisons of two different schems are discussed.
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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Related Researcher
- Park, Jong Hyeon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)