A hard contact is an impact that occurs when the robot contacts a stiff environment with a high velocity. In the pretransition phase of the hard contact, it is important to maintain stability while reducing succeeding force peaks and the duration time. For these purposes, we propose two control methods. One is a suppression controller that suppresses position rebounds in-between the impact time. The other is a flexible-damped joint with a joint damping controller. The flexible-damped joint is a new joint type designed to increase the hardware damping. It is controlled by a novel controller, called the joint damping controller, to enhance damping. The major advantage of the proposed methods is a guaranteed stability. The performance of the proposed methods is validated via several comparative experiments.
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e-mail: wkchung@postech.edu
e-mail: youm@postech.edu
e-mail: oyh@amadeus.kist.re.kr
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Technical Papers
Two Transition Phase Control Methods for Hard Contact
Wan Kyun Chung,
Wan Kyun Chung
Robotics & Bio-Mechatronics Laboratory,
e-mail: wkchung@postech.edu
Pohang University of Science and Technology
, Pohang, Korea
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Youngil Youm,
Youngil Youm
Robotics & Bio-Mechatronics Laboratory,
e-mail: youm@postech.edu
Pohang University of Science and Technology
, Pohang, Korea
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Yongwhan Oh
e-mail: oyh@amadeus.kist.re.kr
Yongwhan Oh
Intelligent Robot Research Center of Korea Institute of Science and Technology
, Seoul, Korea
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Nakju Lett Doh
Wan Kyun Chung
Robotics & Bio-Mechatronics Laboratory,
Pohang University of Science and Technology
, Pohang, Koreae-mail: wkchung@postech.edu
Youngil Youm
Robotics & Bio-Mechatronics Laboratory,
Pohang University of Science and Technology
, Pohang, Koreae-mail: youm@postech.edu
Yongwhan Oh
Intelligent Robot Research Center of Korea Institute of Science and Technology
, Seoul, Koreae-mail: oyh@amadeus.kist.re.kr
J. Dyn. Sys., Meas., Control. May 2007, 129(3): 262-274 (13 pages)
Published Online: September 18, 2006
Article history
Received:
July 18, 2003
Revised:
September 18, 2006
Citation
Doh, N. L., Chung, W. K., Youm, Y., and Oh, Y. (September 18, 2006). "Two Transition Phase Control Methods for Hard Contact." ASME. J. Dyn. Sys., Meas., Control. May 2007; 129(3): 262–274. https://doi.org/10.1115/1.2719766
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