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Your search keyword '"Setiawan, Samuel A."' showing total 23 results
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23 results on '"Setiawan, Samuel A."'

14. Preliminary study on graphene/metal oxide nanoparticles-coated cotton fabrics for flexible gas sensor

Author

Wicaksono, Dedy H. B., primary, Utari, Listya, additional, Wulan, Niluh, additional, Engel, Daniel J., additional, Widjaja, Samantha T., additional, Jovinka, Xaviera, additional, Genilar, Leticia A., additional, Setiawan, Samuel A., additional, Yuliarto, Brian, additional, Dipojono, Hermawan K., additional, Jenie, S. N. Aisyiyah, additional, Tursiloadi, Silvester, additional, Krismastuti, Fransiska S. H., additional, and Herbani, Yuliati, additional

Published
2018
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20. Position-based impedance control of a biped humanoid robot.

Author

Hun-Ok Lim, Setiawan, Samuel Agus, and Takanishi, Atsuo

Subjects
*LOCOMOTION, *ROBOTS, *WALKING, *TECHNOLOGY, *IMPEDANCE control
Abstract

This paper describes position-based impedance control for biped humanoid robot locomotion. The impedance parameters of the biped leg are adjusted in real-time according to the gait phase. In order to reduce the impact/contact forces generated between the contacting foot and the ground, the damping coefficient of the impedance of the landing foot is increased largely during the first half double support phase. In the last half double support phase, the walking pattern of the leg changed by the impedance control is returned to the desired walking pattern by using a polynomial. Also, the large stiffness of the landing leg is given to increase the momentum reduced by the viscosity of the landing leg in the first half single support phase. For the stability of the biped humanoid robot, a balance control that compensates for moments generated by the biped locomotion is employed during a whole walking cycle. For the confirmation of the impedance and balance control, we have developed a life-sized humanoid robot, WABIAN-RIII, which has 43 mechanical d.o.f. Through dynamic walking experiments, the validity of the proposed controls is verified. [ABSTRACT FROM AUTHOR]

Published
2004
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21. Quasi-human biped walking

Author

Lim, Hun-ok, Hyon, Sang-ho, Setiawan, Samuel A., and Takanishi, Atsuo

Abstract

Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

Published
2006

22. Physical interaction between a human and humanoid through hand contact.

Author

Takanishi, Atsuo, Hyon, Sang Ho, Setiawan, Samuel Agus, and Yamaguchi, Jin'Ichi

Subjects
ROBOT motion, HUMAN-machine systems, HUMAN-like design of robots
Abstract

Presents a study which developed a follow-walking control method for a bipedal humanoid robot to follow human motion though hand contact. Description of the control method for dynamic cooperative biped walking; Use of a pattern switching control technique for follow-walking; Details on the experiments regarding the performance of the robot.

Published
1999

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