Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER
This paper presents the implementation of an embedded design of the position based impedance controller for interaction between robot and human. The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced b...
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| creator | Hyo Won Jeon Jeong Seob Kim Seul Jung |
| description | This paper presents the implementation of an embedded design of the position based impedance controller for interaction between robot and human. The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced by human is applied to the robot manipulator to react. Force by human is filtered by impedance function to generate desired position for the robot to follow. Experimental studies of a hand-shaking task are conducted. |
| doi_str_mv | 10.1109/ICCAS.2008.4694416 |
| format | Conference Proceeding |
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The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced by human is applied to the robot manipulator to react. Force by human is filtered by impedance function to generate desired position for the robot to follow. Experimental studies of a hand-shaking task are conducted.</description><subject>Automatic control</subject><subject>Control systems</subject><subject>Design engineering</subject><subject>Field programmable gate arrays</subject><subject>Force control</subject><subject>Human robot interaction</subject><subject>Impedance</subject><subject>impedance force controller</subject><subject>interaction</subject><subject>Manipulators</subject><subject>Mechatronics</subject><subject>Roboker</subject><subject>Service robots</subject><isbn>8995003898</isbn><isbn>9788995003893</isbn><isbn>8993215014</isbn><isbn>9788993215014</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2008</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotUMtOwkAUHWNMVOQHdDM_AN7pPNq7xAaRSEKC7Ml05hbH0Clpxxj_3iJsziMn5ywOY48CpkIAPi_LcvYxzQCKqTKolDBX7L5AlJnQINT1v9EAssDilo37_gsABJpcCHPH0rypyHvy3FMf9pG3NT-2fUihjbyy_RCE5kjeRke8brsBXRtT1x5O7pQdqKGYQtzzEBN11p2rlH6IIrf887uxA0c_6M36Zf0-3zywm9oeehpfeMS2r_Nt-TZZrRfLcraaBIQ0cTk5W4BUhJWtjUJpXQZKk9ROC-MrlIWsUeQ5GjCIuQaEwtUZZFRVWsgRezrPBiLaHbvQ2O53dzlJ_gFwG1vK</recordid><startdate>200810</startdate><enddate>200810</enddate><creator>Hyo Won Jeon</creator><creator>Jeong Seob Kim</creator><creator>Seul Jung</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200810</creationdate><title>Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER</title><author>Hyo Won Jeon ; Jeong Seob Kim ; Seul Jung</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-c7eca8034e9baf6493ac2045e35c516db9383f9177960699750908cf202ebb513</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2008</creationdate><topic>Automatic control</topic><topic>Control systems</topic><topic>Design engineering</topic><topic>Field programmable gate arrays</topic><topic>Force control</topic><topic>Human robot interaction</topic><topic>Impedance</topic><topic>impedance force controller</topic><topic>interaction</topic><topic>Manipulators</topic><topic>Mechatronics</topic><topic>Roboker</topic><topic>Service robots</topic><toplevel>online_resources</toplevel><creatorcontrib>Hyo Won Jeon</creatorcontrib><creatorcontrib>Jeong Seob Kim</creatorcontrib><creatorcontrib>Seul Jung</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hyo Won Jeon</au><au>Jeong Seob Kim</au><au>Seul Jung</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER</atitle><btitle>2008 International Conference on Control, Automation and Systems</btitle><stitle>ICCAS</stitle><date>2008-10</date><risdate>2008</risdate><spage>1946</spage><epage>1950</epage><pages>1946-1950</pages><isbn>8995003898</isbn><isbn>9788995003893</isbn><eisbn>8993215014</eisbn><eisbn>9788993215014</eisbn><abstract>This paper presents the implementation of an embedded design of the position based impedance controller for interaction between robot and human. The robot, called ROBOKER, has two arms. An impedance force controller is designed on an FPGA chip along with a robust position controller. Force induced by human is applied to the robot manipulator to react. Force by human is filtered by impedance function to generate desired position for the robot to follow. Experimental studies of a hand-shaking task are conducted.</abstract><pub>IEEE</pub><doi>10.1109/ICCAS.2008.4694416</doi><tpages>5</tpages></addata></record> |
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| ispartof | 2008 International Conference on Control, Automation and Systems, 2008, p.1946-1950 |
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| language | eng |
| recordid | cdi_ieee_primary_4694416 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Automatic control Control systems Design engineering Field programmable gate arrays Force control Human robot interaction Impedance impedance force controller interaction Manipulators Mechatronics Roboker Service robots |
| title | Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER |
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