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VIBRATION REDUCTION CONTROL FOR HUMAN-RIDING BIPED robot, HUBO FX-1

IFAC Proceedings Volumes 2006年第16期39卷 638-643页

作者： Jung-Yup Kim Jungho Lee Ill-Woo Park Jun-Ho Oh Laboratory Humanoid Robot Research Center Mechanical Engineering Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 South Korea Phone Number : +82-42-869-5223

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.

关键词： robot Control Algorithm

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Visual Information Assist System Using 3D SOKUIKI Sensor for Blind People, System Concept and Object Detecting Experiments

Visual Information Assist System Using 3D SOKUIKI Sensor for...

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Annual Conference of Industrial Electronics Society

作者： Tatsuro Ueda Hirohiko Kawata Tetsuo Tomizawa Akihisa Ohya Shin'ich Yuta Inteligent Robot Laboratory University of Tsukuba Japan National Institute for Advanced Industrial Science and Technology Japan

The purpose of this research is to develop a system which gives blind people information of the environment around them. A person is equipped with a 3D scanner and a small sized PC while walking. The scanner scans and acquires 3D range data map of the environment. The PC analyzes the range data map and detects objects which are useful for blind people in order to walk. The PC gives environmental information to them by synthesized sound. This paper first introduces the concept of the whole system and clarify the tasks for realizing the system. Secondly the method for acquisition of 3D range data and detecting objects and obstacles are described. Then the usefulness of our proposed system is examined by an experiment in which our trial system detects bumps and trenches in the experimental environment

关键词： Sensor systems Object detection Legged locomotion robot sensing systems Intelligent sensors Data analysis Service robots Aging Elevators Intelligent robots

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ZMP Analysis for Realisation of Humanoid Motion on Complex Topologies

ZMP Analysis for Realisation of Humanoid Motion on Complex T...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Daniel Stonier Jong-Hwan Kim Faculty of Electrical Engineering and Computer Science Robot Intelligence Laboratory Korea Advanced Institute of Science and Technology Daejeon South Korea

Humanoids require interaction with their environment through careful placement and utilisation of its contacts to realise a desired motion. In most cases however, contact placement is constrained and there subsequently exists many motions which are not realisable. When contacts are restricted to a horizontal ground plane, a zero moment point (ZMP) analysis is sufficient for determining the readability of a specified motion. In this paper we briefly review the fundamentals of a ZMP analysis and then extend these principles so that a rigourous analysis concerning the realisability of humanoid motion on a complex topology (uneven surface) can be explored.

关键词： Motion analysis Topology Stability Robustness Intelligent robots Cybernetics Human robot interaction Humanoid robots Kinematics Legged locomotion

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Quantitative tactile display device with pin-array type tactile feedback and thermal feedback

Quantitative tactile display device with pin-array type tact...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Gi-Hun Yang Ki-Uk Kyung M.A. Srinivasan Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea Touch Laboratory MIT USA

This paper proposes a tactile display device providing pin-array type tactile feedback and thermal feedback. The pin-array type tactile display is composed of a 6times5 pin-array that is actuated by 30 piezoelectric bimorphs. Micro shape and vibrotactile feedback can be generated by the device, and various planar distributed patterns can be displayed as can braille cell patterns. The thermal feedback device is composed of a thin film resistance temperature detector (RTD), a Peltier thermoelectric heat pump and a water cooling jacket. Users can discriminate among different materials by considering the temperature variation that can be sensed as they touch an object's surface. This paper also includes an experimental evaluation of the device to prove effectiveness of displaying textures. Material property discriminating evaluation was conducted using thermal feedback device that displays simulated temperature profile. To determine the relation between stimulated area and thermal perception sensitivity, a thermal perception experimental setup is developed and the experimental method is described

关键词： Feedback Displays Temperature sensors Thermal resistance Shape Piezoelectric films Thin film devices Detectors Thermoelectricity Thermoelectric devices

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Bayesian Interpretation of Adaptive Fuzzy Neural Network Model

Bayesian Interpretation of Adaptive Fuzzy Neural Network Mod...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Sang Wan Lee Dae-Jin Kim Yong Soo Kim Zeungnam Bien Electrical Engineering and Computer Science Department Korean Advanced Institute of Science and Technology Daejeon South Korea Human-friendly Welfare Robot System Engineering Research Center Korean Advanced Institute of Science and Technology Daejeon South Korea Division of Computer Engineering Daejeon University Daejeon South Korea

This paper conveys Bayesian interpretation of improved integrated adaptive fuzzy clustering(IAFC), which is one of the adaptive fuzzy neural network models and suggests upper bound of vigilance parameter, which gives us a guideline to endow IAFC with flexibility within the framework of minimum risk classifier. Besides, we proposed the off-line and on-line learning strategy of IAFC. The proposed techniques are applied to construct facial expression recognition system dealing with neutral, happy, sad, and angry. We empirically show that proposed methods are able to outperform the conventional IAFC.

关键词： Bayesian methods Adaptive systems Fuzzy neural networks Clustering algorithms Intelligent robots Decision theory Guidelines Face recognition Partitioning algorithms Service robots

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The role of mental model and shared grounds in Human-robot Interaction

The role of mental model and shared grounds in Human-Robot I...

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14th IEEE Workshop on robot and Human Interactive Communication, RO-MAN 2005

作者： Hwang, Jung-Hoon Lee, KangWoo Kwon, Dong-Soo Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)0780392752

This paper investigates the role of mental model and shared grounds in Human-robot Interaction and the relation between them for efficient communication as well as collaboration between human and robot. We tried to conceptualize 3 way relationship among human, robot and world, and to link them in terms of the construction of shared grounds. Based on our conceptual framework of shared grounds, we developed a mediate interface that allows human users to communicate and coordinate with a robot using multimodal icon symbols. A pilot experiment was carried out to examine how people acquire a mental model about 'what' and 'how' a robot can do, and what it knows. The experimental results show that, for the efficient and cooperative Human-robot Interaction (HRI), a proper linkage between human and robot is required to share perceptual experience, object or procedural knowledge on a task. © 2005 IEEE.

关键词： Human computer interaction

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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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Designing a human-robot interaction framework for home service robot

Designing a human-robot interaction framework for home servi...

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14th IEEE Workshop on robot and Human Interactive Communication, RO-MAN 2005

作者： Lee, Kangwoo Kim, Hyoung-Rock Yoon, Wan Chul Yoon, Young-Sik Kwon, Dong-Soo Human Robot Interaction Research Center Korea Advanced Institute of Science and Technology 373-7 KAIST Guseong-dong Yuseong-gu Daejeon Korea Republic of Mechanical Engineering Korea Advanced Institute of Science and Technology 373-7 KAIST Guseong-dong Yuseong-gu Daejeon Korea Republic of Industrial Engineering Korea Advanced Institute of Science and Technology 373-7 KAIST Guseong-dong Yuseong-gu Daejeon Korea Republic of

ISBN: (纸本)0780392752

This paper presents a human-robot interaction framework that outlines a general structure of future home service robots that are expected to assist humans in their home-based daily activities. We describe three interaction modules - multimodal, cognitive, and emotional interaction modules. Each module takes a different role in the process of human robot interaction. The purpose of multi-modal interaction is to make the interaction convenient for the human, the cognitive interaction is for cooperative sharing of tasks, and the emotional interaction is to maintain a close relationship. The general concept for the systematical software integration and the relationships among the three modules are described. © 2005 IEEE.

关键词： Human computer interaction

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The role of mental model and shared grounds in human-robot interaction

The role of mental model and shared grounds in human-robot i...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Jung-Hoon Hwang KangWoo Lee Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea

This paper investigates the role of mental model and shared grounds in human-robot interaction and the relation between them for efficient communication as well as collaboration between human and robot. We tried to conceptualize 3 way relationship among human, robot and world, and to link them in terms of the construction of shared grounds. Based on our conceptual framework of shared grounds, we developed a mediate interface that allows human users to communicate and coordinate with a robot using multimodal icon symbols. A pilot experiment was carried out to examine how people acquire a mental model about 'what' and 'how' a robot can do, and what it knows. The experimental results show that, for the efficient and cooperative human-robot interaction (HRI), a proper linkage between human and robot is required to share perceptual experience, object or procedural knowledge on a task.

关键词： Cognitive science robot kinematics Human robot interaction Intelligent robots Collaboration robot vision systems Research and development Couplings Medical services Cleaning

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Intelligent interaction between surgeon and laparoscopic assistant robot system

Intelligent interaction between surgeon and laparoscopic ass...

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14th IEEE Workshop on robot and Human Interactive Communication, RO-MAN 2005

作者： Ko, Seong-Young Kim, Jonathan Kwon, Dong-Soo Lee, Woo-Jung Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon Korea Republic of College of Medicine Yonsei University 134 Sinchon-dong Seodaemun-gu Seoul Korea Republic of

ISBN: (纸本)0780392752

This paper proposes an intelligent interaction architecture to develop a compact robotic assistant which is operable with minimal control burden. The interaction architecture provides the viewpoint of a laparoscope based on a surgery model and environmental information and an operating surgeon can modify the viewpoint with voice commands, if needed. For this purpose, cholecystectomy is modeled with state-transition diagram through the analysis of four human cholecystectomies. The surgery model for the laparoscopic assistant robot includes a sequence of surgical procedures, surgical instruments in use and proper camera view point at each stage. The camera view information is utilized to obtain the tip position and the type of surgical instrument in use. Surgeon's voice commands are used to modify the camera view suggested by the proposed architecture. The proposed interaction scheme is implemented using the KaLAR system and evaluated through in vivo porcine cholecystectomy. ©2005 IEEE.

关键词： robotics

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