임피던스 제어를 통한 와이어 플라잉 시스템의 충격력 최소화
- Title
- 임피던스 제어를 통한 와이어 플라잉 시스템의 충격력 최소화
- Other Titles
- Minimization of Impact Force Of Wire Flying System Using Impedance Control
- Author
- 박종현
- Keywords
- 와이어 플라잉 시스템; 바이페드 로봇; 임피던스 제어; 충격힘; 공연; Wire Flying System; Biped Robot; Impedance Control; Impact Force; Performance
- Issue Date
- 2011-05
- Publisher
- 제어로봇시스템학회
- Citation
- 제어로봇시스템학회 논문집, 2011, 5, P.730-734(5)
- 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.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02034171http://hdl.handle.net/20.500.11754/51786
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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