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Can Continuous-time Disturbance be Represented by Sampled Input Disturbance?
Gyunghoon Park,Hyungbo Shim,Kyungchul Kong 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
In this paper, we study whether any continuous-time disturbance to a continuous-time plant can be equivalently represented by a sampled input disturbance to a sampled-data model. With the help of the sampled-data system theory, we show that such equivalent sampled disturbance exists for almost sampling period and even for mismatched continoustime disturbances. Moreover, it is also discussed that whether the equivalent sampled disturbance is bounded significantly depends on the zeros of the sampled-data system. Simulation results verify the validity of the stability analysis.
Retractable cleat mechanism of legged robots’ foot on various terrain
Huiseok Moon,Jungsoo Cho,Kyungchul Kong 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Many locomotive robots aim to work reliably and quickly on various terrain. However, It is difficult to control the robot because the terrain is sometimes bumpy, slippery, and muddy. This paper presents a solution for slippery terrain. Slip is an event caused by a lack of friction force. The key research question of this study was whether a relationship between friction force and cleat of a cat’s. If legged robots have foot structure for various terrain, such as claws, then the traction force would be increased and slip would not happen. Moreover, the foot structure was designed as a retractable claw to that can be applied to various ground conditions. The change of the friction force with the ground was demonstrated by experiments. The experiments compared with the coefficient of friction in case with or without the cleat on the three terrain conditions: asphalt, ice and soil. As a result, in case with the cleat, the friction force was increased than without.