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Your search keyword '"Ko, Chun-Hsu"' showing total 40 results
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40 results on '"Ko, Chun-Hsu"'

4. Motion and Visual Control for an Upper-Limb Exoskeleton Robot via Learning

Author

Huang, Jian-Bin, Lin, I-Yu, Young, Kuu-Young, Ko, Chun-Hsu, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Cong, Fengyu, editor, Leung, Andrew, editor, and Wei, Qinglai, editor

Published
2017
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16. Fuzzy macromodel for dynamic simulation of microelectromechanical systems

Author

Ko, Chun-Hsu and Chiou, Jin-Chern

Subjects
Fuzzy logic, Circuit designer, Integrated circuit design, Microelectromechanical systems -- Design and construction, Fuzzy algorithms -- Analysis, Fuzzy logic -- Analysis, Fuzzy systems -- Analysis, Circuit design -- Analysis
Abstract

This paper proposes an efficient approach that consists of an experimental design and a fuzzy-logic model (FLM) to generate macromodels for the simulation of microelectromechanical systems. Firstly, in the present approach, a force macromodel is adapted to perform the coupled simulations. Then, an experimental design is utilized to reduce the number of data needed for macromodel identification, and an FLM is chosen to fit the data. The identification scheme involves cluster estimation to determine the FLM structure and backpropagation method to efficiently obtain the FLM structure parameters that lead to an accurate macromodel. In order to verify the accuracy of the macromodel, the approach has been applied to a magnetic microactuator. The simulation results show that the force macromodel yielded errors of less than 1.5% for a 5-[micro]m displacement. Furthermore, the dynamic coupled simulation takes only several minutes. The results demonstrate the efficiency and effectiveness of the current approach. Index Terms--Coupled analysis, experimental design, fuzzylogic model (FLM), macromodel, microactuator.

Published
2006

37. Motion planning of multifingered hand-arm system with optimal grasping force.

Author

Ko, Chun-Hsu, Lin, Shih-Hsiung, and Chen, Jing-Kun

Abstract

Multifingered hand-arm systems play an important role in dynamic manipulation tasks. They can grasp and move various shaped objects. It is important to plan the motion of the arm and appropriately control the grasping forces in multifingered hand-arm system manipulation. In this paper, we perform the motion planning of multifingered hand-arm system based on optimal grasping force. The dynamics of the object and the grasping forces subjected to the second-order cone constraints are considered in the dynamic manipulation. The motion is planned with the constraint of the multi-arms kinematics. The optimal grasping force problem is recast as the second-order cone program. The semismooth Newton method with the Fischer-Burmeister function is used to efficiently solve the second-order cone program. The simulations of optimal grasping manipulation are performed to demonstrate the effectiveness of the proposed approach. [ABSTRACT FROM PUBLISHER]

Published
2013
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38. Receding horizon passive control for a walk-assist robot.

Author

Ko, Chun-Hsu, Young, Kuu-Young, and Agrawal, Sunil K.

Abstract

Passive walk-assist robots play an important role in providing safe mobility to the elderly. They use the brake torques on the wheels to assist the user walking and differentially steer the vehicle, while the user pushes the walker. It is important to appropriately select the brake torques in accordance with user-applied forces for controlling the robot. In this paper, a receding horizon passive control method is presented to calculate the brake torques so that the robot can perform point-to-point guidance. The control scheme first designs a smooth path to be followed by the robot. The terminal-state penalty is added to the cost function for path following, while the end point equality constraint is used to achieve the goal when the robot approaches the end point. The passivity of the system is guaranteed by adding the brake torque constraints into the formulated optimization problem. To be efficient, we look for a suboptimal solution of the optimization problem by using an analytical method. Simulation results show that the passive walk-assist robot, along with the proposed control scheme, can guide the user to a goal effectively. [ABSTRACT FROM PUBLISHER]

Published
2012

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