38 citations · 109 across the 4 of their papers we have counts for
4 papers
Towards Accurate Force Control of Series Elastic Actuators Exploiting a Robust Transmission Force Observer
Chan Lee, Jinoh Lee, Sehoon Oh
This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The…
Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing
Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell +1
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a n…
Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback
Spandan Roy, Indra Narayan Kar, Jinoh Lee +2
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Ti…
Adaptive-Robust Control of a Class of Uncertain Nonlinear Systems Utilizing Time-Delayed Input and Position Feedback
Spandan Roy, Indra Narayan Kar
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened…