Taegyun Kim — accepted AI-conference papers

2020

Position-based Impedance Control of a 2-DOF Compliant Manipulator for a Facade Cleaning Operation

Taegyun Kim, Sungkeun Yoo, Hwa Soo Kim, TaeWon Seo

ICRA 2020poster

This paper presents the design of a compliant manipulator using a series elastic actuator (SEA) and a mechanism for precisely measuring the force acting on the contact part of the manipulator without using a force sensor. It is important to maintain a constant contact force between the compliant man…

Cited by 6 Source ↗Scholar ↗

2018

Design and Force-Tracking Impedance Control of a 2-DOF Wall-Cleaning Manipulator Using Disturbance Observer and Sliding Mode Control

Taegyun Kim, Sungkeun Yoo, Hwa Soo Kim, Jongwon Kim

ICRA 2018poster

This paper presents design and force-tracking impedance control of 2-degree-of-freedom (DOF) wall-cleaning manipulator equipped with disturbance observer (DOB) and sliding mode control (SMC). In order to keep in contact with various shapes of walls, the proposed manipulator is designed to ensure 2-D…

Cited by 15 Source ↗Scholar ↗