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RISS 인기검색어
- 검색키워드
- 저자 : 마누룽 오라리우스(Manurung Auralius) (검색결과 2 건)
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마누룽 오라리우스(Manurung Auralius),윤정원(JungWon Yoon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject’s position is maintained within the track when the subject walks at a variable velocity. The subject’s position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.
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윤정원(Jungwon Yoon),마누룽 오라리우스(Manurung Auralius),윤정환(Jong-Hwan Yoon) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
This paper presents an intuitive interface scheme for controlling a hydraulic backhoe, which is a piece of excavating equipment consisting of a digging bucket on the end of a two-part articulated arm, and typically mounted and rotated on the back of a tractor or front loader. The passive levers/joysticks for actuator operations of a hydraulic backhoe are replaced into electric joysticks with a robotic controller, which will generate the end-effecter command trajectories of the backhoe through joystick rate control in cylindrical coordinate. The developed backhoe with the hydraulic control system showed the maxim position error of 3 cm with intuitive coordinate operations, which would be helpful for conveniently performing various excavating tasks with natural and effective ways.
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