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检索条件"机构=Applied Robot Technology"

共 194 条记录，以下是131-140 订阅

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Dependable grasping strategy for service robots using fine approaching positions and adaptive hands

Dependable grasping strategy for service robots using fine a...

引用

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Choi, Moosung Hwang, Byunghun Shin, Eun-Cheol Yang, Kwang-Woong Kim, Hong-Seok Department for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

Grasping strategies to grasp various shapes and postures of objects for service robots are presented in this paper. Because the performance of algorithms for the grasp problem is closely connected with the structure and functions of hands, both of these should be considered simultaneously. It is our procedure that searching the optimal approaching position using objects and shapes database in the first place, and then grasping the real objects using adaptive hands. The optimal FAPs (Fine Approaching Positions) generated by solving the problems of collision and variety of postures are verified by simulation. © 2009 SICE.

关键词： Mobile robots

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Extracting extrinsic parameters of a laser scanner and a camera using EM

Extracting extrinsic parameters of a laser scanner and a cam...

引用

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Park, Jae-Han Shin, Yong-Deuk Park, Kyung-Wook Baeg, Seung-Ho Baeg, Moon-Hong Division of Applied Robot Technology Korea Institute of Industrial Technology Seoul Korea Republic of

ISBN: (纸本)9784907764296

The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters. © 2009 SICE.

关键词： Cameras

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Development of task planner for u-intelligent educational robots

Development of task planner for u-intelligent educational ro...

引用

ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Ko, Woohyun Han, Jaeseong Ji, Sanghoon Nam, Kyungtae Lee, Sangmoo Shon, Woonghee Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764333

Recently, robots have penetrated the education market. But the power train for commercializing the robots has not been prepared yet due to chasm between developers and customers. Thus, we present a tool for u-intelligent educational robots to help customers design robot contents easily. To do so, our tool has several features. First, the tool is based on a behavior-based control architecture for human-robot-interaction. Second, the tool has behavior categories for convenience. Finally, robot contents are based on commercial multi-media for compatibility with established educational contents. Effectiveness and practicality of our tools are verified by physical implementation for commercial educational robots. © 2009 SICE.

关键词： Human robot interaction

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Sensor fusion localization system for outdoor mobile robot

Sensor fusion localization system for outdoor mobile robot

引用

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Lee, Donghoon Son, Sukyung Yang, Kwangwoong Park, Jonghwan Lee, Hogil Intelligent Robot Engineering University of Science and Technology Ansan Korea Republic of Division for Applied Robot Techonology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

The purpose of this study is to develop sensor fusion loclization of autonomous mobile robot for outdoor environment. We merge 2 localization models;a Camera sensor with Particle filter and two GPS sensors with Kalman filter. The marks on the load such as lane, arrow, cross road and speed hump, etc., are most important information in urban environment. The camera device is useful to detect road landmarks, because the information printed on the road are color-based model. We use Delaunay triangulation method to extract landmark points in the interest region. The robot finds out the position by comparing these landmark points with a map with Particle filter algorithm. We also use GPS that provides global position directly. The GPS, however, has large drift position data caused by intentional pseudo noise and slow acquisition time for mobile robot. In this paper, a sensor fusion localization system is proposed to get the robot's reasonable position by fusing these 2 localization models that compensate the weak points each other. © 2009 SICE.

关键词： Mobile robots

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Software architecture of human-like robot

Software architecture of human-like robot

引用

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Lee, Tae-Geun Yang, Kwang-Woong Choi, Moo-Sung Shin, Un-Chol Intelligent Robot Platform Research Team SoluBot Inc. Ansan Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

Software architectures have been suggested for a non-industrial robot up to the present, however a few developer who working in the robot field are applying those to manufactured products. Such software architecture of the robot is not using with several reasons in the field of a robot in spite of excellent advantages. This paper proposes using a device management of the software architecture, which has a hierarchical structure, in a human-like robot. Especially, we applied to the rent business of the android platform, EveR1;the compound word of Eve and robot [1]. The device may be real mechanical parts like a sensor, motor, and camera or virtual parts like a motor arbiter, motion generator, and priority maker. The virtual parts are software components which are used in operating the android platform. The device management exists between hardware and software of a robot, and makes the hardware compatibility for applied to applications in the high layer of software. It is compatible due to separating similar functions of each device which is managed in the device management, and providing same abstract interfaces. For instance, an application developed by using a motor driver of one corporation is exchanged for a motor drive of the other corporation with minimal code modification. © 2009 SICE.

关键词： Application programs

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3D localization system for indoor flying robot using ultrasonic and RF

3D localization system for indoor flying robot using ultraso...

引用

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Cho, Kuk Shin, JinOk Shon, WoongHee Park, SangDeok Department of Robot Intelligent Engineering University of Science and Technology Deajeon Korea Republic of Division of Applied Robot Technology KITECH Ansan Korea Republic of

ISBN: (纸本)9784907764296

This paper describes the development of our 3D indoor positioning system, UPS(Ultrasonic Positioning System), for a flying robot. The system consists of three parts of nodes: a transmitter, several receivers, and a server. The transmitter is on the flying robot, the receiver are around circumference, and the server is on the user. Each of the transmitter and receiver node has an ultrasonic sensor module and an RF device module, and the server node has only a RF device module. It sequentially estimates the distance between a transmitter and a receiver node by TDOA(Time Difference of Arrival) with an ultrasonic signal and a RF signal. With these distances, we estimate a flying robot's position using the multi-dimensional Newton Rapshon. Sigma-cutting and extrapolation methods are applied to the system for improving performance. We focus on small size, light weight, non-wire, portable, reasonable accuracy and high response time. Finally, our method was evaluated by experimenting on a flying robot with the 3D indoor positioning system and a motion capture device. © 2009 SICE.

关键词： Transmitters

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Selection of gaze behavior based on emotional state for an android

Selection of gaze behavior based on emotional state for an a...

引用

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Jung, Jun-Young Che, Dongwoon Lee, Dong-Wook Park, Hyun-Sub Lee, Ho-Gil Department of Intelligent Robotics University of Science and Technology Daejeon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

In this paper, we propose a selection method of android's gaze behavior for the naturalness of android. To enable robot selects a proper behavior of gaze by itself, we implemented an artificial emotion model, an environment model, and a gaze behavior selection method. Our artificial emotion model is based on psychological knowledge of human emotion. The environment model is used to inform robots the information of surrounding robot. The gaze behavior selection method chooses a proper gaze behavior by using values of emotion parameters and environmental inputs. We applied this system to android 'EveR' and verified the effectiveness of it. © 2009 SICE.

关键词： Human robot interaction

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Dependable grasping strategy for service robots using Fine Approaching Positions and adaptive hands

Dependable grasping strategy for service robots using Fine A...

引用

SICE Annual Conference

作者： Moosung Choi Byunghun Hwang Eun-Cheol Shin Kwang-Woong Yang Hong-Seok Kim Department for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

关键词： Grasping Service robots Financial advantage program Shape Kinematics Knowledge based systems Spatial databases Computational geometry Sorting robot sensing systems

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Extracting extrinsic parameters of a laser scanner and a camera using EM

Extracting extrinsic parameters of a laser scanner and a cam...

引用

SICE Annual Conference

作者： Jae-Han Park Yong-Deuk Shin Kyung-Wook Park Seung-Ho Baeg Moon-Hong Baeg Division of Applied Robot Technology Korea Institute of Industrial and Technology Seoul South Korea

关键词： Cameras Laser noise Working environment noise Calibration Noise measurement Performance evaluation Data mining robot vision systems robot kinematics Navigation

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Development of task planner for u-intelligent educational robots

Development of task planner for u-intelligent educational ro...

引用

SICE Annual Conference

作者： Woohyun Ko Jaeseong Han Sanghoon Ji Kyungtae Nam Sangmoo Lee Woonghee Shon Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

关键词： Educational robots Service robots Orbital robotics Educational programs Human robot interaction Educational technology Hardware Intelligent robots Communications technology Programming profession

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