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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： H.R. Choi J.H. Kim S.R. Oh School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Advanced Robotics Research Center KIST Seoul South Korea

In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot finger. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional curvature is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

关键词： Torque Force sensors Fingers Shape Tactile sensors Haptic interfaces Tiles Robot sensing systems Force control Geometry

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The enhanced compact QP method for redundant manipulators using practical inequality constraints

The enhanced compact QP method for redundant manipulators us...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ki Cheol Park Pyung Hun Chang Seung Ho Kim Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Department of Advanced Robotics Development Korea Atomic Energy Research Institute Taejon South Korea

ISBN: (纸本)078034300X

For resolving the manipulator redundancy under inequality constraints, the compact QP method (including the improved Compact QP method) is very effective and efficient. From a viewpoint of practical applications, however, it turns out, we found, to have some performance limitations such as unrealistically high torque due to joint angle limit constraints and tracking errors due to joint torque limit constraints under parameter variation and disturbance. Remedying the limitations, the enhanced compact QP method is developed by using the practical inequality constraints with p-step-ahead predictor and time delay estimation. Through dynamic simulation results, it is verified that the enhanced compact QP method significantly improves the compact QP method in terms of efficiency and effectiveness for the real-time control of redundant manipulators under physical limits.

关键词： Quadratic programming Redundancy Kinematics Manipulator dynamics Delay estimation Mechanical engineering Torque control Velocity control Trajectory Constraint optimization

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An unified approach to teleoperation: human and robot integration

An unified approach to teleoperation: human and robot integr...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Sooyong Lee Dae-Seong Choi Munsang Kim Chong-Won Lee Jae-Bok Song Advanced Robotics Research Center Korea Institute of Science and Technology (KIST) Seoul Korea Department of Mechanical Engineering Korea University Seoul Korea

ISBN: (纸本)0780344650

To increase the accuracy and the reliability of teleoperation, close interaction between human and the slave robot is required. Korea Institute of Science and Technology (KIST) is developing a Humanoid robot, which has two 9-DOF arms, two 4-DOF hands, a 3-DOF waist and a 2-DOF neck. An automatic path planner which takes advantage of redundancy is also developed, but it requires huge computational power and time. For tasks which are very complex, or interacting with environments, robot path can be generated very easily and accurately by human teaching, hence the automatic path planner is not required. Using sensors, human motion is analyzed and converted to robot joint angles. For tasks interacting with unknown environment, teleoperation with force feedback is more useful. A simple platform-type master arm is designed based on the kinematic analysis of human. For force reflection, the pneumatic actuators are used. This device is integrated with KIST Humanoid robot as well as graphic simulator, so that the master arm can be used for teaching the robot or as the virtual reality device integrated with the graphic simulator. Force reflecting master hand is also developed. These force reflecting master arm and hand are very light and compact so that a human can wear easily while he feels the same force as the robot does while giving position command to the slave robot. In addition to master arm/hand, visual information is feedback to human through HMD for higher interaction. Therefore, a new way of integration of human and the robot is developed.

关键词： robotics and automation Humanoid robots Human robot interaction Robot sensing systems Educational robots Education Graphics Manipulators Neck Redundancy

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Kinematic manipulability of general constrained rigid multibody systems

Kinematic manipulability of general constrained rigid multib...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.T. Wen L.S. Wilfinger Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA

Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.

关键词： Kinematics Torque Ellipsoids Manufacturing automation robotics and automation Computer aided manufacturing Manipulators Fingers Legged locomotion Robots

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Human and robot integrated teleoperation

Human and robot integrated teleoperation

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IEEE International Conference on Systems, Man and Cybernetics

作者： Sooyong Lee Dae-Seong Choi Munsang Kim Chong-Won Lee Jae-Bok Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Engineering Korea University Seoul South Korea

ISBN: (纸本)0780347781

A lot of research has been done in robot path generation, including automatic path planning and teaching/playback. Teleoperation is commonly used to control a robot from a remote site in an unknown environment. Korea Institute of Science and Technology (KIST) is developing a Humanoid robot, which has two arms (9 degrees of freedom for each), two hands (4 d.o.f. each), a waist (3 d.o.f.) and a neck (2 d.o.f.) An automatic path planner which takes advantage of redundancy is also developed, however, it requires huge computational power and time. For some tasks, which are very complex, or interacting with environments, the robot path can be generated very easily and accurately by human teaching, hence the automatic path planner is not required. Using sensors, human motion is analyzed and converted to robot joint angles. For tasks interacting with an unknown environment, teleoperation with force feedback is more useful. A simple exoskeleton-type master arm is designed based on kinematic analysis. For force reflection, pneumatic actuators are used. This device is integrated with KIST Humanoid robots. A force reflecting master hand is also developed. In addition to the master arm/hand, visual information is fed back to the human through HMD for higher interaction, and voice command interpreter/voice synthesis is integrated. Therefore a new method of human/robot integration is developed.

关键词： Humans robotics and automation Educational robots Education Humanoid robots Robot sensing systems Path planning Automatic control Robot control Manipulators

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Movement control system design for an artificial eye implant

Movement control system design for an artificial eye implant

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IEEE International Conference on Systems, Man and Cybernetics

作者： J. Gu M. Meng M.G. Faulkner A. Cook Department of Electrical and Computer Engineering Advanced Robotics and Teleoperation Laboratory Edmonton AB Canada Department of Mechanical Engineering University of Alberta Edmonton AB Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton AB Canada

The main objective of the research project reported in this paper is to design an assistive device that will help patients with eye-implant to have natural eye movement. The patients lose their eye for various reasons. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like a real eye cosmetically. But the problem is that it is static and does not have the natural movement of an eye. We design an ocular assistive system to enable the artificial eye have the natural movement of a real eye. This paper starts with the literature review of the eye movement detection methods and followed by the description of the experimental system we designed and constructed. The paper is concluded with further considerations.

关键词： Control systems Implants Servomotors Space vector pulse width modulation Eyelids Amorphous magnetic materials Magnetic separation Infrared sensors Medical control systems Medical robotics

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Human-robot integrated teleoperation

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advanced robotics 1998年第4期13.0卷 437-449页

作者： Lee, Sooyong Kim, Munsang Lee, Chong-Won Advanced Robotics Research Center Korea Institute of Science and Technology Seoul PO Box 131 CheongRayng South Korea Department of Electrical Engineering Texas A and M University TX 77843-3112 College Station United States

A great deal of research have been done on robot path generation. including automatic path planning and teaching/playback. Teleoperation is commonly used in order to control a robot from a remote site when dealing with an unknown environment. To increase the accuracy and the reliabilityof teleoperation, close interaction between the human and the slave robot is required. Many force feedback devices and control architectures have been investigated for this purpose. However, most of the force feedback master devices are as big as the slave robot and equipped with heavy *** Korea Institute of Science and Technology (KIST) is developing a humanoid robot which has two arms (9 d.o.f. for each), two hands (4 d.o.f each), a waist (3 d.o.f.) and a neck (2 d.o.f.). An automatic path planner which takes advantage of redundancy is also developed. However, it requireshuge computational power and time to obtain the optimal solution. For some very complex tasks or when a known interacting with environment, the robot path can be generated very easily and accurately by human teaching, hence the automatic path planner is not required. Human motion is analyzedusing sensors and converted to the robot joint angles. For tasks interacting with an unknown environment, teleoperation with force feedback is more useful. A simple exoskeleton-type master arm is designed based on the kinematic analysis of the human arm. Pneumatic actuators are used for forcereflection. This device is integrated with the KIST humanoid robot as well as the graphic simulator, so that the master arm can be used for teaching the robot or as the virtual reality device integrated with the graphic simulator. A force-reflecting master hand is also developed. The force-reflectingmaster arm and hand are very light and compact so that a human can easily wear them while he feels the same force as the robot does, giving position commands to the slave robot. © 1998 Taylor & Francis Group, LLC.

关键词： Force feedback Humanoid robot Master arm Pneumatic actuator Teleoperation

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Probing the curvature of a convex object via discrete active touch

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advanced robotics 1998年第4期13卷 381-399页

作者： Choi, H.R. Kim, J.H. Oh, S.R. School of Mechanical Engineering Sungkyunkwan University Suwon 440-746 South Korea Hwacheon Machine Tool Co Ltd South Korea Advanced Robotics Research Center Korea Institute of Science and Technology (KIST) South Korea

In this paper we propose a method of probing the local curvature of a three-dimensional (3D) convex object using the force and torque information which is obtained from the discrete active touch with a robot finger. A scheme for estimating two-dimensional (2D) curvature of a convexobject is introduced and the way of extracting 3D curvatures from 2D curvatures is presented. To verify the effectiveness of the proposed method, numerical simulations have been performed and experiments have also been carried out with an experimental system consisting of a finger. © 1998 Taylor & Francis Group, LLC.

关键词： Curvature Discrete contact Proving Robot finger

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Design of a teleoperated mobile robot test platform

Design of a teleoperated mobile robot test platform

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IEEE Pacific Rim Conference on Communications, Computers and Signal Processing

作者： L. Wyard-Scott Q.-H.M. Meng Advanced Robotics & Teleoperation (ART) Laboratory Department of Electrical Engineering University of Alberta Edmonton AB Canada

This paper presents the design of a teleoperated mobile robot test bed developed at the advanced robotics and Teleoperation Lab., University of Alberta. A brief mechanical description is given, followed by presentation of a higher flexible workcell hardware structure utilising four distinct computational elements. The system software, written using TCL/TK and C, is presented along with an outline of the overall control algorithm. The operator's graphical interface is also described.

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