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dc.contributor.author Lee, Jinoh ko
dc.contributor.author Chang, Pyung-Hun ko
dc.contributor.author Gweon, Dae-Gab ko
dc.date.available 2017-07-11T07:58:03Z -
dc.date.created 2017-05-08 -
dc.date.issued 2012 -
dc.identifier.citation , pp.5431 - 5436 -
dc.identifier.isbn 9780000000000 -
dc.identifier.issn 1050-4729 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/3858 -
dc.description.abstract This paper focuses on a kinematic redundancy resolution of bimanual robotic system for a machining task as a part of factory automation. Inspired by a study of human bimanual action, called Guiard's principles, a cost function is proposed by using task-compatibility indices. An acceleration-level redundancy resolution is provided via optimization of the cost function in order to reflect the role of human arm movement: one arm performs coarse motion, and the other fine motion. A dynamic simulation with two 6 degrees-of-freedom robots shows the effectiveness of the proposed idea. © 2012 IEEE. -
dc.publisher Institute of Electrical and Electronics Engineers Inc. -
dc.title A cost function inspired by human arms movement for a bimanual robotic machining -
dc.type Conference -
dc.identifier.doi 10.1109/ICRA.2012.6224643 -
dc.identifier.scopusid 2-s2.0-84864449338 -
dc.type.rims CONF -
dc.contributor.nonIdAuthor Lee, Jinoh -
dc.contributor.nonIdAuthor Gweon, Dae-Gab -
dc.identifier.citationStartPage 5431 -
dc.identifier.citationEndPage 5436 -
dc.type.journalArticle Conference Paper -
dc.identifier.conferencecountry US -
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Department of Robotics and Mechatronics Engineering Rehabilitation Robotics Lab 2. Conference Papers

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