{"id":9106,"date":"2024-11-12T12:49:32","date_gmt":"2024-11-12T05:49:32","guid":{"rendered":"https:\/\/gulfthai.com\/?p=9106"},"modified":"2025-01-04T20:41:46","modified_gmt":"2025-01-04T13:41:46","slug":"impedance-control-and-admittance-control","status":"publish","type":"post","link":"https:\/\/gulfthai.com\/?p=9106","title":{"rendered":"Impedance Control and Admittance Control"},"content":{"rendered":"\n<p>\u0e17\u0e35\u0e48\u0e21\u0e32\u0e04\u0e33\u0e27\u0e48\u0e32<a href=\"https:\/\/www.youtube.com\/watch?v=VBAvZuIQhdI\"> impedance \u0e41\u0e25\u0e30 admittance<\/a> \u0e40\u0e1b\u0e47\u0e19\u0e04\u0e48\u0e32\u0e04\u0e27\u0e32\u0e21\u0e15\u0e49\u0e32\u0e19\u0e17\u0e32\u0e19\u0e44\u0e1f\u0e1f\u0e49\u0e32<br><a href=\"https:\/\/www.youtube.com\/watch?v=hSqdz6ohrjU\">\u0e2d\u0e34\u0e21\u0e1e\u0e34\u0e41\u0e14\u0e19\u0e0b\u0e4c\u0e04\u0e37\u0e2d\u0e2d\u0e30\u0e44\u0e23 (\u0e15\u0e2d\u0e19\u0e17\u0e35\u0e48 1 \u0e17\u0e33\u0e44\u0e21\u0e15\u0e49\u0e2d\u0e07\u0e21\u0e35\u0e2d\u0e34\u0e21\u0e1e\u0e34\u0e41\u0e14\u0e19\u0e0b\u0e4c\u0e14\u0e49\u0e27\u0e22 \u0e21\u0e35\u0e41\u0e04\u0e48\u0e04\u0e27\u0e32\u0e21\u0e15\u0e49\u0e32\u0e19\u0e17\u0e32\u0e19\u0e44\u0e21\u0e48\u0e1e\u0e2d\u0e2b\u0e23\u0e37\u0e2d)<\/a><\/p>\n\n\n\n<p>Maxon Motor &#8211; Impedance Control in Robotics<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Maxon Motor - Impedance Control in Robotics\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/aZVtv_66Xb0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Lecture<\/h2>\n\n\n\n<p>Robotics 2 &#8211; Hybrid Force\/Motion Control &#8211; Part 1<\/p>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/www.youtube.com\/watch?v=_EAryS4kilw\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/www.youtube.com\/watch?v=IolG5V_skv8\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Hybrid Motion-Force Control of Robotic Manipulators\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/oxf8FECNs14?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Impedance Control of Robot Motion<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Impedance Control of Robot Motion\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/XxjHxX7mEOM?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Lecture \/ playlist: Northwestern Robotics<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Modern Robotics, All Videos\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/videoseries?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Programming<\/h2>\n\n\n\n<p><a href=\"https:\/\/www.mathworks.com\/matlabcentral\/fileexchange\/57853-impedance-control-for-a-2-link-robot-arm-user-interactive\">Impedance Control for a 2-Link Robot Arm &#8211; User-interactive<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Simple Impedance Control in MATLAB\" width=\"640\" height=\"480\" src=\"https:\/\/www.youtube.com\/embed\/cmW7pRLut8A?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Impedance Control for a 2-Link Robot Arm &#8211; User-Interactive<br>https:\/\/www.youtube.com\/watch?v=cmW7pRLut8A<\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Research Review<\/h2>\n\n\n\n<p>Impedance Control: Planning or Learning? by Antonio Bicchi<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Impedance Control: Planning or Learning? by Antonio Bicchi\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/pQypwOgo_Uo?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Prof. Alessandro De Luca at Sapienza University of Rom<br>ehttps:\/\/www.youtube.com\/watch?v=XwiX2vv14Qs<\/p>\n\n\n\n<p>Admittance Control Simulation in Simulink:<br>https:\/\/github.com\/mincasurong\/Admittance-Control-Simulink<\/p>\n\n\n\n<p>Admittance Control of Multi-DOF Manipulators Considering Joint Flexibility via Hierarchical Control:<br>https:\/\/www.youtube.com\/watch?v=G5YJhZ_ncXo<\/p>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/www.x-mol.net\/paper\/article\/1517604628690542592\n<\/div><\/figure>\n\n\n\n<p>Liang Ding: A professor at the State Key Laboratory of Robotics and System, Harbin Institute of Technology, with research interests in robotics and control systems.<\/p>\n\n\n\n<p>Hongjun Xing: An associate professor of Astronautics at Nanjing University of Aeronautics and Astronautics, focusing on telerobotics, mobile manipulation, and compliance control.<br>GOOGLE SCHOLAR<\/p>\n\n\n\n<p>Ali Torabi: A robotics engineer at Weir Motion Metrics, with contributions to robotics and automation.<br>GOOGLE SCHOLAR<\/p>\n\n\n\n<p>Mahdi Tavakoli: A professor of Electrical and Computer Engineering at the University of Alberta, specializing in telerobotics and biorobotics.<\/p>\n\n\n\n<p>&#8220;An admittance-controlled wheeled mobile manipulator for mobility assistance: Human\u2013robot interaction estimation and redundancy resolution for enhanced force exertion ability&#8221; by H. Xing et al. This paper explores admittance control in mobile manipulators, focusing on human-robot interaction and force exertion capabilities.<br>https:\/\/scholar.google.com\/citations?user=4Wpqd8UAAAAJ<\/p>\n\n\n\n<p>&#8220;Enhancement of force exertion capability of a mobile manipulator by kinematic reconfiguration&#8221; by H. Xing et al. The study discusses improving force exertion in mobile manipulators through kinematic adjustments.<br>https:\/\/scholar.google.com\/citations?user=4Wpqd8UAAAAJ<\/p>\n\n\n\n<p>Admittance Control of Multi-DOF Manipulators Considering Joint Flexibility via Hierarchical Control: This video demonstrates the application of admittance control on multi-DOF manipulators, addressing challenges like joint flexibility.<br>https:\/\/www.youtube.com\/watch?v=G5YJhZ_ncXo<\/p>\n\n\n\n<p>Adaptive Neural Trajectory Tracking Control for Flexible-Joint Robots with Online Learning: This research presents an adaptive neural control approach for flexible-joint robots, which may offer insights into handling joint flexibility in control systems.<br>https:\/\/arxiv.org\/abs\/2003.05426<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Applications Review<\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Impedance Control vs. Position Control\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/KJ8s1BUHoks?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Admittance Control of Multi-DOF Manipulators Considering Joint Flexibility via Hierarchical Control\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/G5YJhZ_ncXo?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"[\ud50c\ub77c\uc78e\/PLAIF] : Impedance Control\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/JY6_jKhL_8E?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Presenting the Unique Capability of LIMS3! - Impact and Compliance Test\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/7n47BNW8OdQ?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Methods<\/h2>\n\n\n\n<p>Our force feedback test<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Force gripper\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/2hnyIgR_WPo?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Our test<\/h2>\n\n\n\n<p><strong>matlab simscape 3 finger gripper with admittance control<\/strong><\/p>\n\n\n\n<p>Function and Program<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"matlab simuscape 3 finger gripper with admittance control\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/WORNGJBzddc?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Our Simulation<\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"matlab simscape 3 finger gripper with admittance control\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/6bTZTKrKyyA?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Our Implementation<\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Gripper with scservo\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/Bjby2RSQRTk?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Gripper\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/d4F0Epl96x0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"1finger with bus servo\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/z8_8PcdYt9Y?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Finger with force feedback<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Finger with force feedback\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/MbTjQ-AwSio?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Admittance Control<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Admittance control with ST3215 servo\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/dp7JDN57iGo?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Fingertip and admittance control #labview\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/Y8EaNqCYW4I?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\u0e17\u0e35\u0e48\u0e21\u0e32\u0e04\u0e33\u0e27\u0e48\u0e32 impedance \u0e41\u0e25\u0e30 admittance \u0e40\u0e1b\u0e47\u0e19\u0e04\u0e48\u0e32\u0e04\u0e27\u0e32\u0e21\u0e15\u0e49\u0e32\u0e19\u0e17\u0e32\u0e19\u0e44\u0e1f\u0e1f\u0e49\u0e32\u0e2d\u0e34\u0e21\u0e1e\u0e34\u0e41\u0e14\u0e19\u0e0b\u0e4c\u0e04\u0e37\u0e2d\u0e2d\u0e30\u0e44\u0e23 (\u0e15\u0e2d\u0e19\u0e17\u0e35\u0e48 1 \u0e17\u0e33\u0e44\u0e21\u0e15\u0e49\u0e2d\u0e07\u0e21\u0e35\u0e2d\u0e34\u0e21\u0e1e\u0e34\u0e41\u0e14\u0e19\u0e0b\u0e4c\u0e14\u0e49\u0e27\u0e22 \u0e21\u0e35\u0e41\u0e04\u0e48\u0e04\u0e27\u0e32\u0e21\u0e15\u0e49\u0e32\u0e19\u0e17\u0e32\u0e19\u0e44\u0e21\u0e48\u0e1e\u0e2d\u0e2b\u0e23\u0e37\u0e2d) Maxon Motor &#8211; Impedance Control in Robotics Lecture Robotics 2 &#8211; Hybrid Force\/Motion Control &#8211; Part 1 Impedance Control of Robot Motion Lecture \/ playlist: Northwestern Robotics Programming Impedance Control for a 2-Link Robot Arm &#8211; User-interactive Impedance Control for a 2-Link Robot Arm &#8211; User-Interactivehttps:\/\/www.youtube.com\/watch?v=cmW7pRLut8A<br \/><a class=\"read-more\" href=\"https:\/\/gulfthai.com\/?p=9106\">Complete Reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[5],"tags":[],"class_list":["post-9106","post","type-post","status-publish","format-standard","hentry","category-engineering"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/9106","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=9106"}],"version-history":[{"count":4,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/9106\/revisions"}],"predecessor-version":[{"id":9180,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/9106\/revisions\/9180"}],"wp:attachment":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=9106"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=9106"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=9106"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}