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Virtual ground robot for balance control

Title
Virtual ground robot for balance control
Authors
Lee, Hyun WookOh, Se Hoon
DGIST Authors
Oh, Se Hoon
Issue Date
2017-06-28
Citation
14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, 280-281
Type
Conference
ISBN
9781509030552
ISSN
0000-0000
Abstract
This paper proposes a Virtual Ground Robot (VGR) that can interact with a human. The proposed Virtual Ground Robot creates a virtual ground, which has three-degree-of-freedom motions in the pitch, the roll and the height directions. The VGR are driven by Series Elastics Actuator(SEA), which enable force control without force sensor. In this paper, two types of training are proposed: Active training and Passive training. In order to implement two types of training, Geometric Posture and Spatial Impedance mode are suggested using control algorithm. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/5794
DOI
10.1109/URAI.2017.7992729
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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