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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 Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

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

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 die 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.

关键词： Legged robot Redundancy Resolution Hydraulic Actuated robot

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Impedance control of electro hydraulic servo system using input output linearization

Impedance control of electro hydraulic servo system using in...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Donghoon Shin Wonhee Kim Youngwoo Lee Daehee Won Chung Choo Chung Department of Electrical Engineering Hanyang University Seoul South Korea Division for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Division of Electrical and Biomedical Engineering Hanyang University Seoul South Korea

In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.

关键词： Impedance Force Transfer functions Steady-state Dynamics Pistons Equations

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PIL-EYE: Integrated System for Sustainable Development of Intelligent Visual Surveillance Algorithms

PIL-EYE: Integrated System for Sustainable Development of In...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Hyung Jin Chang Kwang Moo Yi Shimin Yin Soo Wan Kim Young Min Baek Ho Seok Ahn Jin Young Choi Perception and Intelligence Laboratory School of EECS ASRI Seoul National University Seoul South Korea Mitsuishi Sugita Laboratory University of Tokyo Tokyo Japan Department of Applied Robot Technology Korea Institute of Industrial and Technology South Korea

In this paper, we introduce a new platform for integrated development of visual surveillance algorithms, named as PIL-EYE system. In our system, any functional modules and algorithms can be added or removed, not affecting other modules. Also, functional flow can be designed by simply scheduling the order of modules. Algorithm optimization becomes easy by checking computational load in real time. Furthermore, commercialization can be easily achieved by packaging of modules. The effectiveness of the proposed modular architecture is shown through several experiments with the implemented system.

关键词： Engines Surveillance Algorithm design and analysis Computer architecture Visualization Graphical user interfaces Cameras

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Collective searching algorithm for multi-robot system with bounded communication range

Collective searching algorithm for multi-robot system with b...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Jae-Seong Han Sang-Moo Lee Yong-Sun Moon Tae-Yong Kuc Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Redone Technologies Company Lt. Korea Gwangjoo South Korea School of Information & Communication Engineering Sungkyunkwan University Suwon South Korea

ISBN: (纸本)9781457707223

It is very difficult to acquire information of all robot states in real applications due to the limited range of wireless communication. Therefore, many researchers have attempted to implement collective robots without communication each other. However, there are two demerits in the collective systems; one is their poor efficiency and the other is that the systems are irresponsible to various events which may be invoked in searching applications. Therefore in this paper we propose a method to improve productivity collective robots and improve response capability to events so that robots are able to communicate with each other within a limited distance. For the purpose, we develop collective robots' behaviors which can complete a searching mission under unknown environment and we propose a rule by which the robots share their local maps and path plans. Finally, efficiency of the proposed method is verified by simulation results.

关键词： Bounded communication range Collective searching algorithm Multi-robot system Sweeping robot multi-robot systems communication range SWEEPS response capability CARRIER SYSTEM robot System

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Modeling of a Dual Actuator System and its Control Algorithm Preventing Saturation of Fine Actuator

Modeling of a Dual Actuator System and its Control Algorithm...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Duckjune Kim Kyung-Tae Nam Sang Hoon Ji Sang Moo Lee Department of Applied Robot Technology Korea Institute of Industrial Technology (KITECH) Ansan 426-791 South Korea

ISBN: (纸本)9781457708381

This paper discusses the design of control structure of dual actuator system, which is considered as DISO system, for high precision manufacturing stage. It proposes that PA tracks error signal between estimated coarse position and output coarse position at control sample to prevent saturation. Estimators are designed for both fine and coarse actuator plants to derive input signal to PA and state-feedback gain is defined by LQR. Dynamic model is defined by Newton's second law and coupling dynamics is considered for control structure. Experimental results demonstrate that unnecessary movement of PA during the transient response is reduced resulting in enhanced overshoot and settling time of the DSA system.

关键词： actuator system Computer algorithms Nylons Control Architecture feedback gain fine fine Modeling setting time input signal TRANSIENT RESPONSE actuators Precision manufacturing ERROR SIGNAL

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robotic Arm Control Inspired by Human Muscle Tension Effect under the Gravity

Robotic Arm Control Inspired by Human Muscle Tension Effect ...

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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： Ji-Hun Bae Woosung Yang Sang-Rok Oh Bum-Jae You Doik Kim Yonghwan Oh Department of Applied Robot Technology Korea Institute of Industrial TechnologyAnsan R&D Center127 Human Factors & Devices Research Team Central Advanced Research & Engineering Institute of Hyundai M Cognitive Robotics Center Korea Institute of Science & TechnologyP.O. BOX 131CheongryangSeoul 130

In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.

关键词： robot arm control Human-like motion Redundant robots Manipulation

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Implementation of Smart Floor for multi-robot system

Implementation of Smart Floor for multi-robot system

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International Conference on Autonomous robots and Agents, ICARA

作者： Soo Hyeok Kang Yong Ho Kim Eun Jin Lee Soon-Geul Lee Byung-Cheol Min Jinung An Dong Han Kim Department of Electronics and Radio Engineering Kyung Hee University Yongin South Korea Department of Mechanical Engineering Kyung Hee University Yongin South Korea Department of Computer and Information Technology Purdue University IN USA Pragmatic Applied Robot Institute DGIST Daegu South Korea

In this paper, we suggest a new information space concept called Smart Floor. Smart Floor is the floor storage of specific information intended for route guidance of a mobile robot. A mobile robot can reach its goal position using the information in Smart Floor as well as automatically update information for a changing environment. We constructed Smart Floor using RFID tag packaging and fabricated a mobile robot mounted with a passive RFID tag in ultra high frequency (UHF) bandwidth. The passive RFID tag is inexpensive and does not require a power supply. The primary information saved and stored in Smart Floor is direction-values and Q-values. These values are the result of applying Q-learning in an arbitrary position to the goal position in the Grid world. The research will help from Smart Floor and aid in the development of various applications for multi-robot application.

关键词： Floors Mobile robots Passive RFID tags Navigation Automation

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INS/EKF-based stride length, height and direction intent detection for walking assistance robots

INS/EKF-based stride length, height and direction intent det...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty robot sensing systems

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The energy minimization algorithm using foot rotation for hydraulic actuated quadruped walking robot with redundancy

The energy minimization algorithm using foot rotation for hy...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, robotIK 2010

作者： Kim, Tae-Ju So, Byungrok Kwon, Ohung Park, Sangdoek Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9781617387197

In a stand-Alone hydraulic power system for quadruped walking robot, the hydraulic flow consumption is an important parameter during walking. An inefficient large displacement of each angular joint motion caused by foot rotational trajectory without considering kinetic energy increases hydraulic flow consumption. And it requires the higher capacity of power system and it will be a burden on walking robot. In this paper, we proposes a redundancy resolution algorithm that minimized the hydraulic flow consumption for hydraulic actuated quadruped walking robot with redundancy resolution. And the performance of the proposed algorithm is tested using computer simulations.

关键词： Kinetic energy

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Classification of health grade using bio-check unit and health index

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Journal of Biomechanical Science and Engineering 2011年第3期6卷 148-159页

作者： Yi, Seong-Il So, Byung-Rok Lee, Chong-Sun Lee, Seung-Ju Park, Seon-Kyun Park, Byung-Kang Chung, And In-Wook Division of Applied Robot Technology KITECH 1271-18 Sa-1-dong Sangrok-gu Ansan City Kyungki-do Korea Republic of College of Mechanical and Control Engineering Handong Global University 3 Namsong-ri Heunghae-eub Pohang City Korea Republic of Department of Family Medicine Sunlin Hospital 69-7 Daesin-dong Buk-gu Pohang City Korea Republic of

A bio-check unit and health index were developed to evaluate personal health grade. The bio-check unit conducts health-related surveys and noninvasive measurements of physiological signals. Four health indices were defined such as cardiovascular index, stress index, obesity index, and management index. Programs were developed to evaluate scores of the four health indices from measured physiological signals and answers of survey questions. In order to obtain distributions of the health index scores with age, a clinical study was performed for 362 persons who visited general hospital for annual health inspection. The health index scores showed significant correlations with age. Based on the regression equation with age, five regions were divided in health index scores to classify personal health grade. The health index scores were found to identify specific diseases such as hypertension and diabetes. © 2011 by JSME.

关键词： Surveys

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