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노연 후 콩(Huu-Cong Nguyen),김기복(Gi-Bok Kim),조상영(Sang-young Jo) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.2
This study proposes a new approach to analyze the impedance and the elasticity of a serial chain of spring-damper system, areal-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-position adjustment to solve a collision problem by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process,, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative is carried out by the system of robots. A control technology is proposed to implement for mobile robot.
Huu-Cong Nguyen(노연 후 콩),Woo-Song Lee(이우송) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.