A5017250304- Prosthetics and Rehabilitation Robotics
- Robot Manipulation and Learning
- Robotic Locomotion and Control
- Muscle activation and electromyography studies
- Adaptive Control of Nonlinear Systems
- Teleoperation and Haptic Systems
- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Iterative Learning Control Systems
- Hydraulic and Pneumatic Systems
- Advanced Control Systems Optimization
- Piezoelectric Actuators and Control
- Stability and Control of Uncertain Systems
- Robotic Path Planning Algorithms
- Shape Memory Alloy Transformations
- Ruminant Nutrition and Digestive Physiology
- Fault Detection and Control Systems
- Motor Control and Adaptation
- Balance, Gait, and Falls Prevention
- Effects of Environmental Stressors on Livestock
- Context-Aware Activity Recognition Systems
- Neurogenetic and Muscular Disorders Research
- Dynamics and Control of Mechanical Systems
- Manufacturing Process and Optimization
- Surgical Simulation and Training
Korea Advanced Institute of Science and Technology
2006-2025
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2020-2025
Seoul National University
2019-2024
Italian Institute of Technology
2013-2021
This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about dynamics TDE. Despite its model-free nature, provides high-accuracy robustness against parameters variations. simplicity, robustness, of are verified through both 2-DOF planar simulations 3-DOF PUMA-type experiments.
In this work, we present WALK‐MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high‐strength capabilities, physical sturdiness. To enable these WALK‐MAN design actuation are based on the most recent advancements of series elastic actuator drives with unique performance features differentiate robot from previous state‐of‐the‐art compliant actuated robots....
We have developed a continuous nonsingular terminal sliding-mode control with time-delay estimation (TDE) for shape memory alloys (SMA) actuators. The proposed method does not need to describe mathematical model of hysteresis effect and other nonlinearities; thus, it is simple free. consists three elements that clear meaning: TDE element cancels nonlinearities in the SMA dynamics, an injection specifies desired (TSM) reaching using fast sliding manifold activated accordingly when system...
A model-free robust adaptive controller is proposed for control of humanoid robots with flexible joints. The uses a time-delay estimation technique to estimate and cancel nonlinear terms in robot dynamics including disturbance torques due the joint flexibility, assigns desired specified by sliding variable. gain-adaptation law developed dynamically update gain using magnitude variable itself. leakage term prevent overestimation value, offers stable chattering-free action. effectiveness...
Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple yet effective alternative robot model-based controls and/or intelligent controls. An inclusive enhanced formulation of TDC for robust manipulators is presented in this paper. The proposed consists three intuitive terms: 1) estimation (TDE), inherited from the original TDC, cancellation mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., "mass"-"nonlinear damper"-...
This paper presents a method of implementing impedance control (with inertia, damping, and stiffness terms) on dual-arm system by using the relative Jacobian technique. The proposed significantly simplifies implementation because dual arm is treated as single manipulator, whose end-effector motion defined between two end effectors. As result, task description becomes simpler more intuitive when specifying desired trajectories. basis for control. In addition, use time-delay estimation...
This letter proposes a novel human–robot collaboration (HRC) control approach to alert and reduce the static joint torque overloading of human partner while executing shared tasks with robot. Using preidentified statically equivalent serial chain model, variations centre-of-pressure ground reaction force are calculated, torques evaluated in real time initially about consequent injuries. An online optimization technique is implemented adjust robot trajectories facilitating achieve more...
This paper proposes a new adaptive-robust control (ARC) strategy for tracking problem of class uncertain Euler-Lagrange systems. The proposed time-delay (ARTDC) amalgamates the ARC with (TDC). It comprises three parts: estimation part, desired dynamics injection and an part. main feature ARTDC is that it does not involve any threshold value in its adaptive law; thus, allows switching gain to increase or decrease whenever error trajectories move away close surface, respectively. Thus,...
This brief proposes a new adaptive-robust formulation for time-delay control (TDC) under less-restrictive stability condition. TDC relies on estimating the unknown system dynamics via artificial introduction of time delay, often referred to as estimation (TDE). In conventional TDC, error, called TDE is taken be upper bounded by constant assumption small delay and, most importantly, priori states. We highlight issues such methodology an unstable counterexample. Consequently, structure bound...
Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These refer to the fact that controller gain unnecessarily increases when states approaching surface (overestimation) or improperly decreases getting far from it (underestimation). In this paper, we propose a novel ASMC strategy overcomes such issues. contrast state of art, proposed is effective even an priori constant bound on uncertainty cannot be imposed. Comparative...
A common disadvantage of multi-legged robots is that they often lack the manipulation capability. To overcome this limitation, an arm can be added to body robot, perform tasks and provide assistance for locomotion. First, we proposed attachment configuration a robot uniform workspace in front, below above base trunk. Second, integrated control framework promises keep mobility balance mobile platform provides precise capability incorporating payload estimation scheme. Finally, verify with...
This paper presents a model predictive control (MPC) method for redundant robots controlling multiple hierarchical tasks formulated as multi-layer constrained optimal problems (OCPs). The proposed method, named incremental MPC (HIMPC), is robust to dynamic uncertainties, untethered from kinematic/algorithmic singularities, and capable of handling input state constraints such joint torque position limits. To this end, we first derive systems that approximate uncertain system dynamics without...
In this letter, a new robust approach is proposed to address the limitation of impedance rendering for Series Elastic Actuators (SEA). The concept Structure Preserving (ESP) control allows attachment desired load-side dynamics SEA while maintaining passivity condition, regardless parameters attached dynamics. characteristics ESP are revisited and translated in frequency domain, which grants perspective identify its advantages compared conventional terms passivity. Additionally, we analyze...
Prioritizing multiple tasks has been achieved with null space projection. However, projection becomes inaccurate when there are uncertainties in the model, and few studies have addressed this issue. Disturbance observers (DOBs) effectively utilized to address disturbances robot control. conventional DOB designs fail resolve coupling issue associated To challenge, article, we propose a novel hierarchically decoupled disturbance observer (HDDOB) design within task (HT space). First, introduce...
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In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and adaptive-robust strategy, christened Time-Delayed Adaptive Robust Control (TARC), presented. TARC approximates unknown dynamics through time-delayed estimation, provides robustness against approximation error. The novel adaptation law TARC, in contrast conventional methodologies, requires neither complete model nor any knowledge predefined uncertainty bounds...
In the literature of any time-delay control (TDC)-based methods, boundedness error due to estimation (TDE) is crucial prove stability. However, TDE has been studied by discretizing closed-loop system while neglecting effect discretization error; consequently, considered be upper bounded a constant. This letter proves that such constant bound restrictive in nature explicit involvement states error. Thereby, without system, new structure directly formulated continuous-time domain which an...
With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose semi-autonomous control framework and evaluate it experimentally valve turning setup. The structure consists various modules interfaces to identify valve, locate front perform manipulation. manipulation module implements four motion primitives (Reach, Grasp, Rotate Disengage) realizes corresponding impedance profile each phase accomplish task. In direction,...
This letter presents a new push recovery algorithm for humanoid robots in balancing scenarios by exploiting the system's rotational dynamics. The proposed framework actively generates centroidal angular momentum (CAM) references based on force magnitude and direction of to counteract disturbance maintain its balance. Since robot can only store limited amount momentum, CAM reference is generated three consecutive phases: 1) generation phase push; 2) reduction bring halt; 3) posture converge...