@inproceedings{e048cb9b3c934529a337cfc9076f1901,
title = "Toward a dynamic model of robotic marionettes",
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",
isbn = "9781424416769",
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",
}