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승마용 헬스 케어 로봇 시스템과 신체 상태 지수 관리기술
임미섭,임준홍 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.4
This paper describe the riding robot system named by "RideBot" which is a riding robot like as a horse. In order to simulate the riding motions, we develope the saddle mechanism which can generate 3 DOF motions including pitch, roll, and bounce movement, and also we controlled the riding motions and the intention of horseman. To generate the riding motions with the bodily sensation, we developed Novel Washout Filter and the algorithms for motion control. And also, we developed some health care service for the health care of horseman. A body state index was proposed that evaluates the personal health state from both the measured physiological variables and the surveyed questions. The physiological variables such as weight, blood pressure, heart rate variability (HRV), accelerated state photoplethysmograph(APG), body fat, and happiness index were measured by the specially designed bio-handle system and survey questions. The efficiency of the proposed ride robot is evaluated in the experiments.
임미섭,오상록,유범재,Song-Soo Han,Sang Hum Lee 제어·로봇·시스템학회 2002 International Journal of Control, Automation, and Vol.4 No.4
Obstacle avoidance of underactuated robot manipulators using switching computed torque method (SCTM) is presented. One fundamental feature of this novel method is to use partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GAs) to acquire the optimum switching sequence of the control actions for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled. The effectiveness of the concept is illustrated by taking a three-degrees-of-freedom (DOF) manipulator and showing enhanced performance of the proposed control methodology.
로봇 시스템의 강성도 작업 적응성을 갖는 하이브리드 동작 제어
임미섭 ( Mee-seub Lim ) 한국고등직업교육학회 2004 한국고등직업교육학회논문집 Vol.5 No.4
In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamic system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.
다지 다관절 로봇 손 시스템 개발과 파지 동작 제어에 관한 연구
임미섭 ( Mee-seub Lim ),윤인식 ( In-sik Yun ) 한국고등직업교육학회 2003 한국고등직업교육학회논문집 Vol.4 No.3
This paper addresses the development of 3-fingered robot hand and the grasp synthesis to find the grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose the fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain the force closure grasp by multi-fingered robot hand. For the optimum grasp, we develop the preference and the hibernation process and also we assign the physical constraints of robot hand to the motion of each finger. The performance of presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps.