Kim Doang Nguyen

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A novel self-calibrating sensing technology using miniature linear encoders and inertial/magnetic measurement unit (IMU) provides the accuracy, fast response and robustness required by many body motion processing applications. Our sensor unit consists of an accelerometer, a 3-axis magnetic sensor, 2 gyroscopes and a miniature linear encoder. The fusion of(More)
Although numerous researches on s-curve motion profiles have been carried out, up to date, no systematic investigation on the general model of polynomial s-curve motion profiles is considered. In this paper, the model of polynomial s-curve motion profiles is generalized in a recursive form. Based on that, a general algorithm to design s-curve trajectory(More)
This paper develops a physical model of an inertial/magnetic measurement unit by effectively integrating an accelerometer, a magnetometer, and two gyroscopes for low-g motion tracking applications. The proposed model breaks down the errors contributed by individual components, then determines error elimination methods based on sensor behavior and(More)
In this paper we explore the motion control of a robotic puppet through motion capture data. A motion mapping technique is investigated to map the human motion into marionette motion, and from that calculate the rotation of the servo motors to achieve desired marionette motions. A software was developed to capture human motions utilizing a bend-twist sensor(More)
In this paper, we present a novel sensing technique, Optical Linear Encoder (OLE), in which the motion of an optical encoder on a reflective strip is converted to limb joints' goniometric data. A body sensing module is designed to integrate the OLE and an accelerometer. A sensor network of three sensing modules is established via Controller Areas Network(More)
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(More)
This paper presents an analysis of the synchronization and consensus problems of networked manipulators operating on an underactuated dynamic platform. The proposed formulation does not require detailed information about the system model. A theoretical analysis shows that the controlled system's behavior matches closely to that of a nonadaptive reference(More)