Zobrazeno 1 - 10
of 29
pro vyhledávání: '"Hyun-Yong Han"'
Publikováno v:
IFAC Proceedings Volumes. 33:147-152
This paper analyzes dynamics and control of pinch motions generated by a pair of two multi-degrees-of-freedom robot fingers with soft and deformable tips pinching a rigid object. It is shown firstly that passivity analysis leads to effective design o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::224e8bf2ba673ec088bad92cf86876cd
https://doi.org/10.1016/s1474-6670(17)37920-x
https://doi.org/10.1016/s1474-6670(17)37920-x
Publikováno v:
International Journal of Robust and Nonlinear Control. 10:597-609
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b49d818f9e5086100d37d2a88d2ad12f
https://doi.org/10.1002/1099-1239(20000715)10:8<597::aid-rnc500>3.0.co
https://doi.org/10.1002/1099-1239(20000715)10:8<597::aid-rnc500>3.0.co
Publikováno v:
Robotica. 18:71-80
This paper attempts firstly to derive a mathematical model of the dynamics of a set of dual fingers with soft and deformable tips which grasps and manipulates a rigid object with some dexterity. To gain a physical insight into the problem, considerat
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3cf1c02691931dda7fc7b86c6f780fbe
https://doi.org/10.1017/s0263574799002441
https://doi.org/10.1017/s0263574799002441
Publikováno v:
Systems & Control Letters. 36:109-119
The concept of impedance matching for linear electric circuits is extended to nonlinear position-dependent circuits that express nonlinear dynamics of robotic tasks such as holding an object of soft material and handling a rigid object with soft fing
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::48a3b00a3677b38f95a84c1c9f5e81cb
https://doi.org/10.1016/s0167-6911(98)00084-x
https://doi.org/10.1016/s0167-6911(98)00084-x
Publikováno v:
Journal of the Robotics Society of Japan. 17:1141-1148
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::eb1108105d749d29dcc1b15b817c0923
https://doi.org/10.7210/jrsj.17.1141
https://doi.org/10.7210/jrsj.17.1141
Publikováno v:
IFAC Proceedings Volumes. 31:517-522
This paper aims at generalizing the concept of impedance matching to nonlinear circuits that express nonlinear dynamics of robot tasks, where a tool endpoint (or fingertip) with soft material presses a rigid and fixed object or environment. Under suc
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6453412eaf4f0fa86f155175682da2a6
https://doi.org/10.1016/s1474-6670(17)40389-2
https://doi.org/10.1016/s1474-6670(17)40389-2
Publikováno v:
Transactions of the Society of Instrument and Control Engineers. 32:1581-1587
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4f45e7cb10fb4b1ef46c844f1e6514c3
https://doi.org/10.9746/sicetr1965.32.1581
https://doi.org/10.9746/sicetr1965.32.1581
Publikováno v:
IROS
This paper proposes an iterative learning control scheme for impedance control of robotic tasks when the tool endpoint covered by soft and deformable material presses a rigid object or environment at a prescribed periodic force pattern. To this end,
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::557be6a74da991fd22ca6c14b0783294
https://doi.org/10.1109/iros.1999.812754
https://doi.org/10.1109/iros.1999.812754
Autor:
Hyun-Yong Han, Sadao Kawamura
Publikováno v:
IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).
Human fingers have mechanical characteristics which enable human hands to manipulate objects dexterously in complex environments. Research on such characteristics will help in the design of robotic fingers with capability of dexterous manipulation. I
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e1bf4b19ed063b8c07d317b49d3f27ee
https://doi.org/10.1109/icsmc.1999.825364
https://doi.org/10.1109/icsmc.1999.825364
Publikováno v:
IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).
Aims at solving a problem of impedance control for a class of robotic tasks where a soft and deformable tip of a 3 DOF finger robot interacts physically with a fixed rigid object or environment. It is assumed that dynamics of the robot finger are unk
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e9d7767789b434b8dc0d6fd096eb8b87
https://doi.org/10.1109/icsmc.1999.825366
https://doi.org/10.1109/icsmc.1999.825366