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作者： Han, Jae-Seong Lee, Sang-Moo Ji, Sang-Hoon Department of Intelligence Robotics Engineering University of Science and Technology Sa3-dong Sangrok-gu Ansan Korea Republic of Department of Applied Robot Technology Korea Institute of Industrial Technology Sa3-dong Sangrok-gu Ansan Korea Republic of

ISBN: (纸本)9789604742608

In this paper, we present a visual compass based on the Unscented Kalman Filter Simultaneous Localization and Mapping (UKF SLAM) using a low-cost camera. The Extended Kalman Filter (EKF) based visual compass has been proposed. However, the output of the UKF is more accurate than the EKF for nonlinear systems like the visual compass. In this work, the UKF is applied to the visual compass to improve the accuracy of the output. The experiment results show that the proposed approach successfully performed.

关键词： Extended Kalman filters

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A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy

A composite algorithm for flow rate reduction and stable bod...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Kim, Taeju Park, Sangdeok Yi, Byung-Ju Department of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-3-dong Ansan Gyeonggi Province Korea Republic of School of Electrical Engineering and Science Hanyang University 1271-18 Sa-3-dong Ansan Gyeonggi Province Korea Republic of

ISBN: (纸本)9781424481149

A hydraulic actuator has a various merits. It has a small size and a high power-to-weight ratio. So it is able to generate high torque in small size actuator. These features of hydraulic actuator are very useful for a walking robot. However, the hydraulic actuator needs a hydraulic power-pack which supplies pressure and flow. Usually, a big and heavy power-pack is needed to generate high pressure and large flow rate. Especially this power-pack is a burden to the stand alone type robot. Therefore it is very important o minimize the size of the power-pack. In this paper, we propose a redundantly actuated quadruped robot which is driven by hydraulic actuator. Using the kinematic redundancy of each leg mechanism, a flow rate consumption minimization algorithm is proposed, which allows minimizing the size of a power-pack. We demonstrate the reduction of the flow rate of the robot through simulation and experiment. © 2011 IEEE.

关键词： Kinematics

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Design Based on a Shared Lookup-Table for an Obstacle Avoidance Fuzzy Controller for Mobile robots

Design Based on a Shared Lookup-Table for an Obstacle Avoida...

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International Conference on Intelligent Systems Design and Applications (ISDA)

作者： Jinwook Kim Yoon-Gu Kim Young-Duk Kim Won-Seok Kang Jinung An Pragmatic Applied Robot Institute (PARI) Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea

Fuzzy algorithms provide intuitive method for robot obstacle avoidance. Fuzzy controllers incorporating a design based on lookup tables (LUT) enable faster obstacle avoidance in environment with multiple obstacles. In an earlier study, we introduced a full LUT-based architecture for an 18-rule positive/negative (P/N) fuzzy controller. In this study, the number of fuzzy rules is expanded to 50. Because of the extra rules, the controller apparently needs more LUT(s) buffers. In other words, the buffer size increases with the complexity of the fuzzy controller. Therefore, we propose a LUT sharing method to reduce the buffer size without significantly degrading the performance of the controller. The final objective of this work is to design a LUT-based fuzzy controller whose buffer size is independent of the complexity of the fuzzy system. The proposed method is evaluated by simulating a 50-rule P/N fuzzy controller using Microsoft robotics Developer Studio (MSRDS). The simulation results show that in comparison with the method not using LUT(s), full LUT-based method and the LUT sharing method reduce the operational time by nearly 80% and 70%, respectively. Although the LUT sharing method needs 1.5 times more operational time than the full LUT methods, it reduces the buffer size by more than 90%.

关键词： Fuzzy control robot control Mobile robots Fuzzy systems Table lookup Navigation Control systems Intelligent robots robot sensing systems Size control

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Wheel & Track hybrid robot platform for optimal navigation in an urban environment

Wheel & Track hybrid robot platform for optimal navigation i...

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SICE Annual Conference

作者： Jinwook Kim Yoon-Gu Kim Jeong-Hwan Kwak Dae-Han Hong Jinung An Pragmatic Applied Robot Institute (PARI) Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea

Various robot platforms are used for tasks in a variety of disaster fields. For public safety in some urban environments, a novel wheel and track hybrid robot platform which is able to perform fast navigation in flatland and stairs is developed. For its applicability on various environments, we devised a transformable track structure which can climb stairs and navigate the flat floor rapidly. The transformable track can transfer the power with three actuators. Track arms installed in front, rear, and side are used for mode change between floor-navigation and stair-climbing. When the robot navigates on a flatland, tracks on its left and right side are down-folded and kept up folded posture in which four wheels are exposed to the outside of tracks. In this floor-navigation mode, the robot fast navigates flat floors without contact between tracks and the floor. When the robot ascends stairs, the robot spreads tracks until they enclose four wheels. In the stair-climbing mode, two tracks are working. The wheel and track hybrid robot platform was verified by real-navigation experiments in some indoor test-bed environments. The experimental result shows that the developed robot platform has good performance in climbing stair with two tracks and navigating flatland. The platform's maximum speed on flatland is 7.2 km/h and its maximum slope to climbing is an angle of 45 degrees.

关键词： Mobile robots Wheels Navigation Floors Urban areas Collision avoidance

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Development of a wearable input device based on human hand-motions recognition

Development of a wearable input device based on human hand-m...

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IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： Daeheui Won Ho-Gil Lee Jin-Young Kim Moosung Choi Min-Sung Kang Control and Intelligence Research Group Division for Applied Robot Technology (DART) Korea Institute of Industrial and Technology Ansan South Korea

In this paper, a new wearable input device recognizing human hand-motion, a keyglove, is proposed. The glove can resolve the disadvantages of the conventional input devices and can be adapted to the mobile computing environment The device is applicable as the touch-typing input method for users' easy understanding and improvement of input speed. The hand-motion for touch-typewriting using QWERTY keyboard, which is most widely being used currently, is analyzed. The analyzed results show that the model with 21 DOF can be reduced to one with approximately 14 DOF. The hand-motion capture module using low price sensors is also developed for hand-motion recognition. In general, however, typists using the keyglove system can not exactly determine the key position of desired input letter because the virtual keyboard does not have the physical location of key layouts, and that causes many typewriting errors at a long typewriting time. Therefore, an algorithm is needed to cope with the problem and to reduce typewriting errors due to personal disparities such as hand shapes and typewriting habits. For this reason, the time-variant prediction algorithm is proposed to minimize typewriting errors, and the possibility of the developed keyglove system is also verified.

关键词： Humans Mobile computing Keyboards Computer interfaces Wearable computers Handwriting recognition Intelligent robots Speech recognition Intelligent control Service robots

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Rapid Ethnography – The Study of Behavior, Communication, and Context in Cosmetic Surgery Consultations and the Design of a New Medical Device

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Proceedings of the International Symposium on Human Factors and Ergonomics in Health Care 2013年第1期2卷 82 - 89页

作者： Thomas Koester Betina Rangstrup Malene T. Nibe Tille V. Schøler Department of Applied Psychology FORCE Technology Kongens Lyngby Denmark Robot Technology Danish Technological Institute Odense Denmark Department of Communication and Psychology Aalborg University Aalborg Denmark

Ethnographic research methods are increasingly popular within the general field of Human Factors, usability, user experience and design. Through a case story from the development and design of a medical device called 3D Surgery – a decision aid to be used in surgeon-patient consultations for cosmetic breast surgery – the presentation exemplifies the value and efficiency of the use of rapid ethnography used as stand-alone method and in combination with other methods. The case study describes an iterative approach encompassing continuous adjustment of method repertoire as well as continuous adjustment of use of analytical tools through which insights into the specific context of use are built. The case study further illustrates how the pre-surgery consultation and decision making process of the patient can be analyzed, and how the knowledge acquired can be transferred into design criteria for the 3D Surgery System.

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Concurrent Control of Position/Orientation of a Redundant Manipulator based on Virtual Spring-Damper Hypothesis

Concurrent Control of Position/Orientation of a Redundant Ma...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Sang-Rok Oh Yonghwan Oh Sung-Kyun Kim Ji-Hun Bae Cognitive Robotics Center in Korea Institute of Science and Technology (KIST) Korea Department for Applied Robot Technology in Korea Institute of Industrial Technology Korea

Redundant manipulator control usually brings about a lot of complexity. This paper proposes a quite simple approach for concurrent set-point regulation of position and orientation of a redundant manipulator using the virtual springdamper hypothesis, which offers human-like movements without solving the inverse dynamics. For orientation, quaternion representation is applied to give singularity-free orientation control. Augmenting quaternion feedback to the state vector of the system, the stability is analytically proved, and dynamic simulation is conducted for validation of the method. Competition between position and orientation control is also briefly discussed based on the simulation results.

关键词： Quaternions Position control Stability analysis Joints Manipulator dynamics Jacobian matrices

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Development of motion-maker for an android

Development of motion-maker for an android

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Seulgi Lee Byung-Rok So Ho-Gil Lee Department of Intelligent Robotics University of Science and Technology Daejeon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

An android is a robot which resembles human especially appearance and behavior. This robot is usually used for an emcee, a desk clerk, a teacher and so on. Its motion should be accurate and correspond to what it tells because a little difference of motion may bring misunderstanding. Comparing a humanoid, an android should resemble human more strictly because not-quite-high quality of mimicry leads peoplepsilas hatred.

关键词： Humans Humanoid robots Service robots Intelligent robots robot sensing systems robotics and automation Databases Educational robots Joints Tactile sensors

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Output feedback nonlinear control for electro-hydraulic systems

Output feedback nonlinear control for electro-hydraulic syst...

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作者： Kim, Wonhee Won, Daehee Shin, Donghoon Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of

In this paper we present an output feedback nonlinear control for position tracking of electro-hydraulic systems (EHSs). Although previous nonlinear control methods improved the position tracking performance of EHS, all of the methods require full state feedback. However, due to cost and space limitations, it is not always possible to measure the full state of the EHS. The proposed method consists of a high gain observer and a passivity-based controller. The high gain observer is designed to estimate the full state, and the passivity-based control is implemented for position tracking. In order to design the passivity-based controller with the high gain observer, a defined Lyapunov condition guarantee that the origin of the tacking error dynamics is exponentially stable by selecting the controller gain. The stability of the closed-loop is studied using the singular perturbation theorem. The performance of the proposed method is validated through simulations and experiments. © 2012 Elsevier Ltd. All rights reserved.

关键词： Tracking (position)

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Position tracking and flatness controller with disturbance observer in hydraulic servo systems

Position tracking and flatness controller with disturbance o...

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50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

作者： Kim, Wonhee Shin, Donghoon Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9784907764395

A position tracking and flatness controller with disturbance observer (DOB) is proposed in hydraulic servo systems (HSSs). In this paper, we assume that the disturbance is a biased sinusoidal signal with unknown frequency. DOB is designed in the form of 2nd high pass filter to estimate the disturbance. The nonlinear controller is designed to compensate the estimation error of the disturbance and to track the desired position and load pressure as a near IO linearizing inner-loop load pressure controller and a feedback plus feedforward outer-loop position controller. The desired load pressure is designed using differential flatness property of the HSS mechanical subsystem. The performance of the proposed method is validated via simulations. © 2011 SICE.

关键词： Tracking (position)

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