• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.416-422
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• 2017

The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.454-456
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• 2017

인간은 오랜 시간 자연광에 순응하며 진화해왔고 자연광과 유사한 환경에서 보다 능률적인 작업과 편안한 휴식을 갖는다. 자연광의 광 특성은 색온도, 단파장, 조도 및 휘도 등으로 분류되며 광 특성에 따라 인간에게 미치는 영향과 효과가 달라진다. 이에 본 논문에서는 자연광의 광 특성을 고려하여 사용자의 건강과 감성, 조명의 에너지 효율 등 다양한 목적에 따라 최적의 조명서비스를 제공할 수 있는 통합제어시스템을 구현하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.