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 proceedingConference article published in proceeding or bookAcademic researchpeer-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 languageEnglish
Title of host publication2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
Pages488-493
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 - Chengdu, China
Duration: 21 Sept 200824 Sept 2008

Publication series

Name2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008

Conference

Conference2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
Country/TerritoryChina
CityChengdu
Period21/09/0824/09/08

Keywords

  • Dynamics
  • Modelling
  • Robotic marionette

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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