• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.522-525
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• 1995

A manipulation of a multiple contacted object by a Rotational Base and Single-jointed Finger mechanism(RBSF mechanism) is discussed. The manipulation is characterized by multiple contacts on an object and large motions of the object with sliding contacts. The kinematics and dynamics allowing sliding at multiple contacts are explored. The conditions for manipulation of an object at multiple contacts by the RBSF mechanism, which cannot exert arbitrary contact forces because it has a fewer number of joints than is required for active control, is presented.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.132.6-132
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• 2001

This paper aims to derive a mathematical model of the dynamics of handling tasks in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.839-840
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• 2006

Our paper proposes a novel moving object tracking scheme for biped robot using a single camera. For walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum model. This analysis leads us a simple linear dynamics. And, the control parameter of the biped robot is derived from the feedback signal which converges the position of a image feature to the feature position of a desired image and the feedforward signal which compensates the motion component due to the moving object.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.825-826
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• 2010

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.12
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• pp.2057-2060
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• 2016

Range-based motion estimation of a moving object by using a camera is proposed. Whereas the existing results constrain the motion of an object for the motion estimation of an object, the constraints on the motion is relieved in the proposed method in that a more generally moving object motion can be handled. To this end, a nonlinear observer is designed based on the relative dynamics between the object and camera so that the object velocity and the unknown camera velocity can be estimated. Stability analysis and simulation results for the moving object are provided to show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1553-1558
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• 2003

The authors investigate influences of manipulator dynamics on and roles of kinesthetic sensation and visual sensation in a Human-Machine Cooperative System (HMCS). At first, the general structure and essential transfer functions of HMCSs are described based on the previous work. Then, after showing theoretical treatment of manipulator dynamics, this paper analyzes the influences on HMCSs in two cases: one is the control design focusing on tool dynamics and reaction force transfer function, and the other is that specifies maneuver transfer function and transfer function for object dynamics variation. In addition to conventional experiments only employing kinesthetic sensation, other experiments with both kinesthetic and visual sensations are performed to examine difference in the roles of these sensations and the validity of the design without the visual sensation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.12
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• pp.1737-1743
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• 2013

This paper proposes the range and velocity of the object estimation method using a moving camera. Structure and motion (SaM) estimation is to estimate the Euclidean geometry of the object as well as the relative motion between the camera and object. Unlike the previous works, the proposed estimation method can relax the camera and object motion constraints. To this end, we arrange the dynamics of moving camera-moving object relative motion model in an appropriate form such that the nonlinear observer can be employed for the SaM estimation. Through both simulations and experiments we have confirmed the validity of the proposed estimation algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.670-673
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• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.