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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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Efficient Acceleration-Level Formula of Bias Acceleration Satisfying Time Precedence for Operational Space Formulation

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dc.contributor.author Park, Sang Hyun ko
dc.contributor.author Jin, Maolin ko
dc.contributor.author Kang, Sang Hoon ko
dc.date.available 2022-08-05T04:09:13Z -
dc.date.created 2022-07-28 ko
dc.date.issued 2022-06 ko
dc.identifier.citation IEEE ACCESS, v.10, pp.65533 - 65547 ko
dc.identifier.issn 2169-3536 ko
dc.identifier.uri https://scholarworks.unist.ac.kr/handle/201301/59042 -
dc.description.abstract Operational space formulation has been used for robots to perform multi-tasks by taking advantage of dynamic consistency. Bias acceleration, which is an acceleration realized right after applying the control torque to a robot, compensates for the acceleration due to the higher priority tasks, thereby achieving the goal of the tasks with lower priority. Since the operational space formulation requires many computations during real-time control, there is a strong need to reduce the number of computations. We proposed an efficient acceleration-level bias acceleration formula while showing that the original bias acceleration formula could take 30-50% of the total computation for the operational space formulation. Moreover, we clarified the underlying time precedence of bias acceleration, which was implicitly provided in the original formula but was never clearly explained. Further, we have proved that the inefficiency of the original formula is due to the use of unnecessary full robot dynamics, the use of which is almost entirely eliminated in the proposed formula. Through extensive simulations and experiments, we have verified that the proposed formula needs 2-4% computations of the original, is independent of the Coriolis/centrifugal torque and the gravity torque, and is equivalent to the original formula. We expect that, with a deeper understanding of the bias acceleration, the proposed bias acceleration formula could promote the use of high degrees-of-freedom robots. ko
dc.language 영어 ko
dc.publisher Institute of Electrical and Electronics Engineers Inc. ko
dc.title Efficient Acceleration-Level Formula of Bias Acceleration Satisfying Time Precedence for Operational Space Formulation ko
dc.type ARTICLE ko
dc.identifier.scopusid 2-s2.0-85132738430 ko
dc.identifier.wosid 000815512000001 ko
dc.type.rims ART ko
dc.identifier.doi 10.1109/ACCESS.2022.3183609 ko
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