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Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

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Experimental verification on the robustness and stability of an interaction control: Single-degree-of-freedom robot case

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dc.contributor.author Park, Sang Hyun ko
dc.contributor.author Son, Jeongwoo ko
dc.contributor.author Jin, Maolin ko
dc.contributor.author Kang, Sang Hoon ko
dc.date.available 2021-06-10T07:53:35Z -
dc.date.created 2021-06-08 ko
dc.date.issued 2021-05 ko
dc.identifier.citation ELECTRONICS LETTERS, v.57, no.11, pp.433 - 435 ko
dc.identifier.issn 0013-5194 ko
dc.identifier.uri https://scholarworks.unist.ac.kr/handle/201301/52998 -
dc.description.abstract The nonlinear bang-bang impact control (NBBIC) had been proposed for robots performing tasks having frequent contact with different environments because it takes advantage of the frictions in robot joints that are not helpful for constrained space control usually, does not need to change gains throughout tasks, and requires little information on robot dynamics. Despite these advantages, due to the lack of stability proof, it was not widely adopted. Recently, the stability of the NBBIC for one degree-of-freedom (DOF) robot has been proved almost two decades after its first proposal. The stability condition provided a theoretical stable region of the inertia estimate and was not dependent on environment dynamics, indicating the robustness of NBBIC to environment dynamics (e.g. stiffness). Thus, there is a strong need to verify the stability condition and the robustness of NBBIC to environment dynamics. Experiments of single DOF robots colliding with various environments showed that the stability condition predicted the stable range of the inertia estimate well, though there was a reduction in upper-bound because of sensor noise. The impact force response did not vary significantly for environments with different stiffness (silicon, aluminium, and steel wall), thereby confirming the robustness of the NBBIC to environment dynamics. ko
dc.language 영어 ko
dc.publisher WILEY ko
dc.title Experimental verification on the robustness and stability of an interaction control: Single-degree-of-freedom robot case ko
dc.type ARTICLE ko
dc.identifier.wosid 000636322100001 ko
dc.type.rims ART ko
dc.identifier.doi 10.1049/ell2.12151 ko
dc.identifier.url https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/ell2.12151 ko
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