Toward a dynamic model of robotic marionettes

Kim Doang Nguyen; Kwang Yong Lim; Wei Dong; Young Koon Goh; I. Ming Chen; Song Huat Yeo; Been Lirn Duh Henry; Kang Li; Chen Hao Su

doi:10.1109/RAMECH.2008.4681523

Toward a dynamic model of robotic marionettes

Kim Doang Nguyen, Kwang Yong Lim, Wei Dong, Young Koon Goh, I. Ming Chen, Song Huat Yeo, Been Lirn Duh Henry, Kang Li, Chen Hao Su

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

2 Citations (Scopus)

Abstract

Robotic marionettes are those mechatronic system in which strings that control motion of a puppet are driven by a puppeteer platform including motor-pulley modules. Systematic control of robotic marionettes is now still a tough problem, which several research groups have been attempting to solve. In this paper, we present dynamic models of the robotic marionette developed from Lagrange equation. Feed-forward control and feedback control are studied based on the dynamic models with the illustration of block diagrams. A process of identifying the parameters appearing in the dynamic models is presented in details. The modeling provides better insight of the system, and builds a mathematical platform to research the control and simulation of the marionette system.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
Pages	488-493
Number of pages	6
DOIs	https://doi.org/10.1109/RAMECH.2008.4681523
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 - Chengdu, China Duration: 21 Sept 2008 → 24 Sept 2008

Publication series

Name	2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008

Conference

Conference	2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
Country/Territory	China
City	Chengdu
Period	21/09/08 → 24/09/08

Keywords

Dynamics
Modelling
Robotic marionette

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

More information

10.1109/RAMECH.2008.4681523

Cite this

Nguyen, K. D., Lim, K. Y., Dong, W., Goh, Y. K., Chen, I. M., Yeo, S. H., Henry, B. L. D., Li, K., & Su, C. H. (2008). Toward a dynamic model of robotic marionettes. In 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 (pp. 488-493). Article 4681523 (2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008). https://doi.org/10.1109/RAMECH.2008.4681523

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abstract = "Robotic marionettes are those mechatronic system in which strings that control motion of a puppet are driven by a puppeteer platform including motor-pulley modules. Systematic control of robotic marionettes is now still a tough problem, which several research groups have been attempting to solve. In this paper, we present dynamic models of the robotic marionette developed from Lagrange equation. Feed-forward control and feedback control are studied based on the dynamic models with the illustration of block diagrams. A process of identifying the parameters appearing in the dynamic models is presented in details. The modeling provides better insight of the system, and builds a mathematical platform to research the control and simulation of the marionette system.",

keywords = "Dynamics, Modelling, Robotic marionette",

author = "Nguyen, {Kim Doang} and Lim, {Kwang Yong} and Wei Dong and Goh, {Young Koon} and Chen, {I. Ming} and Yeo, {Song Huat} and Henry, {Been Lirn Duh} and Kang Li and Su, {Chen Hao}",

year = "2008",

doi = "10.1109/RAMECH.2008.4681523",

language = "English",

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series = "2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008",

pages = "488--493",

booktitle = "2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008",

note = "2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 ; Conference date: 21-09-2008 Through 24-09-2008",

}

Nguyen, KD, Lim, KY, Dong, W, Goh, YK, Chen, IM, Yeo, SH, Henry, BLD, Li, K & Su, CH 2008, Toward a dynamic model of robotic marionettes. in 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008., 4681523, 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008, pp. 488-493, 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008, Chengdu, China, 21/09/08. https://doi.org/10.1109/RAMECH.2008.4681523

Toward a dynamic model of robotic marionettes. / Nguyen, Kim Doang; Lim, Kwang Yong; Dong, Wei et al.
2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008. 2008. p. 488-493 4681523 (2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Toward a dynamic model of robotic marionettes

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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