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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Kim, Sin-Jung Jeong, Mun-Ho Lee, Joong-Jae Lee, Ji-Yong Kim, Kang-Geon You, Bum-Jae Oh, Sang-Rok Korea Republic of Korea Republic of Lab. of Robot Vision and Intelligence School Robot Kwangwoon Univ. Korea Republic of Machine Intelligence Group Information and Technology Lab. LGE Advanced Research Institute Korea Republic of

ISBN: (纸本)9781424493173

This paper presents a calibration method for a robot Head-Eye system which can be used in a humanoid robot vision system. This method estimates the transformation between the robot coordinate and the camera coordinate. The calibration procedure uses visual measurements and kinematic information as the inputs of nonlinear optimization. For this calibration method, an objective function for the optimization, that uses the Minimum Variance method is defined. The procedure of this method is very simple and intuitive. Besides, the result of this method is considerably precise and robust against the noisy environment. The performance is compared with earlier approaches and the results of simulation and actual experiment are followed. © 2010 IEEE.

关键词： Anthropomorphic robots

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Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface 2

Research on Trajectory Planning of 6-DOF Cutting-robot in Ma...

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2nd International Conference on Mechanical, System and Control Engineering, ICMSC 2018

作者： Jiao, Sheng-Xi Wang, Hao Xia, Lin-Lin Zhang, Shuai University of Northeast Electric Power in Jilin Advanced Sensor Technology Institute Jilin China University of Northeast Electric Power in Jilin Research Institute of Robot and Image Visual Detection Technology Jilin China

It is important and difficult for the complicated surface processing in mechanical industry. In this paper, an improved algorithm for trajectory planning is proposed in impeller surface processing by using 6-DOF cutting-robot. Taking a single finished path of the impeller blade as an example, the feedrate of the cutter, bow height error, cutter-orientation and position are planned by the B-spline interpolation algorithm, the best cutting trajectory is obtained. On the basis of trajectory planning, the optimal movement scheme of 6-DOF cutting-robot joints is obtained, the 6-DOF cutting-robot feedrate and trajectory smooth transition is achieved and the joints movement adaptive adjustment is completed. Finally, the angles, the angular velocitys of the joints and their interrelated properties are analyzed. The research works indicate that the robot joint angle curves are continuous and stable, which has met the requirements of smooth movement of the robot, and the results show that the trajectory planning is effective and practical. © The Authors, published by EDP Sciences, 2018.

关键词： Interpolation

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Difference of efficiency in human-robot interaction according to condition of experimental environment

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4th International Conference on Social robotics, ICSR 2012

作者： Ahn, Ho Seok Lee, Dong-Wook Choi, Dongwoon Lee, Duk-Yeon Hur, Manhong Lee, Hogil Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Kyoto 619-0288 Japan

ISBN: (纸本)9783642341021

Human-robot Interaction is most important function for social robot systems. Android robot systems, which have human-like appearance, are used for interaction with humans because they have the merit of showing their emotions by similar way to humans. Lots of these robot systems are developed and verified their efficiency and performance by analyzing the experimental results from questionnaire method. However, the results from questionnaire method can be different from many conditions. In this paper, we analyze the difference of experimental results from questionnaire method by comparing three groups: the first group gains benefits by competition, the second group gains benefits without competition, and the last group does not gain anything. For these experiments, android head system EveR-4 H33, which has 33 motors inside of head to show its facial expressions, is used. © 2012 Springer-Verlag.

关键词： Human robot interaction

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System Design and Experimental Analysis of an All-environment Mobile robot

System Design and Experimental Analysis of an All-environmen...

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作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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Development of emotional attachment on a cleaning robot for the long-term interactive affective companion

Development of emotional attachment on a cleaning robot for ...

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22nd IEEE International Symposium on robot and Human Interactive Communication: "Living Together, Enjoying Together, and Working Together with robots!", IEEE RO-MAN 2013

作者： Yang, Jeong-Yean Dinh, Binh Khanh Kim, Han-Gyeol Kwon, Dong-Soo Human-Robot Interaction Research Center Korea Advanced Institutes of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of Korea Advanced Institutes of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781479905072

Emotional interaction has been widely applied to many robotic applications. Emotional behavior, which is complementary to limited cognitive ability in a service robot, is becoming the attractive service task even including its own therapeutic functions. This paper focused on the user study of an interactive affective companion by using a cleaning robot as a pet. The cognitive and emotional subsumption model is designed for the robust behavior selection with the response to human's commands. In addition, we testified the appropriateness of long-term interaction through tablet-based modality. © 2013 IEEE.

关键词： behavioural sciences human-robot interaction mobile robots service robots

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Vibration reduction control for human-riding biped robot, HUBO FX-1

Vibration reduction control for human-riding biped robot, HU...

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作者： Kim, Jung-Yup Lee, Jungho Park, Ill-Woo Oh, Jun-Ho HUBO Laboratory Humanoid Robot Research Center Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783902661173

This paper presents a control algorithm that reduces the vibrations of a human-riding biped robot, HUBO FX-1 during walking. This kind of robot should handle the payload of at least 100 kg in order to carry a person easily. To secure a sufficient payload, it is important to reduce the weight of the robot. The weight of the robot is mainly composed of motors, reduction gears, and body frames. Reducing the weight of the body frame is more efficient use of power than reducing the capacities of motors and reduction gears. A disadvantage is that the leg structures become flexible, so serious structural vibrations are generated during walking. We solved this problem by using simple theoretical models and experiments based on sensory feedback. This control strategy is very effective for the weight reduction of biped robots. Copyright © 2006 IFAC.

关键词： robots

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Hybrid scheme of localization and map building with a LRF and a LPS for a mobile robot navigation

Hybrid scheme of localization and map building with a LRF an...

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2011 International Conference on Information Science and Applications, ICISA 2011

作者： Han, Byung Ok Jeong, Il-Woong Seo, Yong-Ho Yang, Hyun S. Computer Science Dept. Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Intelligent Robot Engineering Dept. Mokwon University Daejeon Korea Republic of

ISBN: (纸本)9781424492244

Localization and map building in an indoor environment are important problems for a mobile robot. There are two approaches to these problems: a metric approach and a topological approach. The metric approach uses various range sensors to determine the distance between an obstacle and the robot for the precise localization of a robot;the topological approach gives the robot its state on the basis of landmarks. Because both approaches have some advantages and disadvantages, researchers in the field of mobile robotics have combined the two approaches so that the robot can explore the environment autonomously. This so called hybrid approach still requires certain types of additional odometric information for rapid convergence of positioning the robot as well as information on landmark recognition. To build a more accurate map and to localize precise the position and orientation of the robot, we use a local positioning sensor to compensate for the accumulation of wheel encoder errors and landmark recognition errors. In this paper, we propose a new way of fusing a laser range finder, a local positioning sensor, and wheel encoders. The experimental results confirm that the robot can construct its own environment and localize itself accurately and consistently. © 2011 IEEE.

关键词： Mobile robots

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Experiments of vision guided walking of humanoid robot, KHR-2

Experiments of vision guided walking of humanoid robot, KHR-...

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2005 5th IEEE-RAS International Conference on Humanoid robots

作者： Kim, Jung-Yup Park, Ill-Woo Lee, Jungho Oh, Jun-Ho HUBO Laboratory Humanoid Robot Research Center Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)0780393201

This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ∼ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2. © 2005 IEEE.

关键词： Mobile robots

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Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2018年第3期31卷 60-68页

作者： Dong-Sheng Zhang Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University

Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high sti ness and high dexterity. Therefore,in order to expand the application prospects of hybrid manipulator,a novel 5?degree?of?freedom(DOF) hybrid serial?parallel manipulator(HSPM) is proposed. Firstly,the design plan of this manipulator is introduced. Secondly,the analysis of this manipulator is carried out in detail,including kinematics analysis,statics analysis,and workspace analysis. Especially,an amplitude equivalent method of disposing the over?constrained force/couple to the non?overconstrained force/couple is used in the statics analysis. Then,three performance indices are used to optimize the PM. Two of them have been widely used,and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices,the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM,the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

关键词： Parallel mechanism Performance indices Optimal design Performance atlas

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Kinematics and Dynamics Hessian Matrices of Manipulators Based on Screw Theory

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 226-235页

作者： ZHAO Tieshi GENG Mingchao CHEN Yuhang LI Erwei YANG Jiantao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling ***,the traditional representations cannot achieve this because of the absence of coordinate ***,the coordinate invariant method is an important research ***,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is *** on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is ***,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is *** formulae and the dynamics Hessian matrix are proved to be coordinate *** to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is *** index of dynamical coupling based on dynamics Hessian matrix is *** the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics *** screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.

关键词： kinematics dynamics Hessian matrix parallel manipulator screw theory

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