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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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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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Real-time 3D multiple occluded object detection and tracking

Real-time 3D multiple occluded object detection and tracking

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Cho, Kuk Baeg, Seungho Park, Sangdeok Intelligent Robot Engineering University of Science and Technology Deajeon Korea Republic of Department of Applied Robot Technology KITECH Ansan Korea Republic of

ISBN: (纸本)9781479911738

This paper describes a real-time object detection and tracking method which is improved to occluded measurements. 3D point cloud data describes surrounding objects on one measurement frame. If two objects cross in front of an observing system, equipped 3D LIDAR on a vehicle, the object recognition mechanism has inherent problems. In this paper, we define that the system process consists of a detection part and a tracking part. The first problem occurs on the clustering process in the detection part. Two objects are liked as one object by a neighbor point approach. In our case, RBNN (Radial Bounded Nearest Neighbor) clustering method works with two parameters, radial bounded range and point number. The second problem happens on the tracking process. The previous detection process hands on wrong the object number. The tracking system also shows the ambiguity results with the fault tracking. It is frequently happened on occluded measurements. We proposed the enhanced object detection and tracking method using an object class and relative position. In this paper, we propose the system which has an enhanced tracking mechanism for approaching successful object tracking which prevents wrong detection and tracking. In experiment, we implement two humans and an autonomous ground vehicle to achieve a leader-following system. © 2013 IEEE.

关键词： Object recognition

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Capturability-based Fuzzy Footstep Planner for a Biped robot with Centroidal Compliance

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Journal of Bionic Engineering 2024年第1期21卷 84-100页

作者： Zihan Xu Qin Fang Yong Ren Chengju Liu Robot and Artificial Intelligence Lab(RAIL) College of Electronic and Information EngineeringTongji UniversityShanghai 201804China Applied Technology College Soochow UniversitySuzhou 215000China

Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious *** force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled *** this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be *** fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired *** fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external *** validate the presented methods,a series of experiments on a real humanoid robot are *** results verify the effectiveness of the proposed balance control framework.

关键词： Biped walking Centroidal compliance Gravity projection observer Fuzzy footstep planner

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Framework of grasping planning for multi-fingered robot hands

Framework of grasping planning for multi-fingered robot hand...

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Park, Jae-Han Bae, Ji-Hun Shin, Yong-Deuk Park, Sung-Woo Baeg, Moon-Hong Department for Applied Robot Technology KITECH Ansan 426-791 Korea Republic of

ISBN: (纸本)9781457707223

In this paper, we present a framework of grasping planning for multi-fingered robot hands which is based on the planning scheme of human. Structure of the proposed grasping planner is composed of three sub planners: grasping type planner, opposition parameter planner and approach vector planner. This planner is based on the way of human's grasping plan, so it is suitable for learning of intelligences for grasping of human. Using this framework of grasping planning, we would like to utilize to study for robot's imitating of human's grasping plan intelligence. © 2011 IEEE.

关键词： Intelligent robots

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Implementation of reactive behaviors for an industrial manipulator based on OPRoS

Implementation of reactive behaviors for an industrial manip...

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Ji, Sang-Hoon Park, Tae-Dong Lee, Sang-Moo Shin, Eun-Cheol Choi, Byung-Wook Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of

ISBN: (纸本)9781457707223

It is important that robots in a factory execute its mission exactly in a structured environment and handle many types of events in dynamic real world. The former is related to punctuality and the latter is related to reactivity or dependability. But it is very difficult to prepare robot S/W with dependability and punctuality at the same time for the industrial manipulators because general S/W fails to meet real-time requirements. Therefore, we suggest a method how to make industrial robot software have reactive semantics. For this aim, we use OPRoS (Open software Platform for robotic Services) and application centric language interpreter. In this framework, state machine component connected abstracted sensor model components invoke signal to an interpreter component in order handle various external operation conditions. And the interpreter determines which robot behaviors will executed for the signals and make suitable robot behavior components work. Finally, we implement our robot software on mulit-core system in order to meet real-time needs including low-latency and strict period time. © 2011 IEEE.

关键词： Industrial manipulators

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A composite algorithm for flow rate and ground reaction force reduction in a hydraulic actuated quadruped robot with kinematic redundancy

A composite algorithm for flow rate and ground reaction forc...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Kim, Taeju Park, Sangdeok Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi Province Korea Republic of

ISBN: (纸本)9781467312776

A hydraulic actuator has merits of high torque and small size. So it is very useful for a standalone type walking robot. But this hydraulic actuator needs a hydraulic power pack which supplies pressure and flow rate to generate the torque. The weight of the hydraulic power pack is in proportion to the supply pressure and the supply flow. Therefore to generate high torque and large flow, a big and heavy power pack is needed. Especially this hydraulic power pack is a burden to the standalone type walking robot. So a lightweight hydraulic power pack is required for the standalone type walking robot. Also ground reaction force is a major reason to make balancing of the robot unstable in walking robot. In this paper, we propose a redundantly actuated quadruped robot which is actuated by hydraulic actuator. Using the kinematic redundancy of each leg mechanism, flow rate and ground reaction force reduction algorithm is proposed simultaneously. We demonstrate the reduction of the flow rate and ground reaction force of the robot through simulation and experiment. © 2012 IEEE.

关键词： Redundancy

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Wide-Field Resolution Uniformity for Solar Ground-Layer Adaptive Optics

SSRN

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SSRN 2025年

作者： Yang, Ying Zhang, Lanqiang Yan, Nanfei Tong, Dingkang Ran, Xian Zhong, Libo Rao, Changhui National Laboratory on Adaptive Optics Shuangliu Sichuan Chengdu610209 China Research institute of applied technology for specialized robot School of Electronic Engineering Chengdu Technological University Pidu Sichuan Chengdu611730 China Institute of Optics and Electronics Chinese Academy of Sciences Shuangliu Sichuan Chengdu610209 China University of Chinese Academy of Sciences Yanqi Lake Beijing100049 China School of Electronic Electrical and Communication Engineering the University of Chinese Academy of Sciences Yanqi Lake Beijing100049 China

Ground-layer adaptive optics (GLAO) has significant potential for solar observations of ground based telescopes due to its ability to provide wide field-of-view (FOV) correction. Ground-based telescopes always pursue high spatial resolution to improve observational quality, which is typi cally evaluated by the full width at half maximum of the point spread function. However, GLAO system also requires uniform spatial compensation across a wide FOV, particularly for accurate solar magnetic field topology and speckle imaging techniques. Multiple guide stars (GS) are used to detect ground-layer turbulence and their layout greatly influences observational quality. To this end, in this paper, we optimize the GS layout to improve spatial resolution uniformity for wide-field GLAO. Specifically, we propose a novel wide-field resolution uniformity metric to evaluate the observational quality in GLAO system. Based on this innovate metric, simulations identify two effective GS configurations: the center + ring GS layout achieves higher resolution, and the single ring GS layout exhibits more uniform correction across a wide FOV (improving 41.4% resolution uniformity by trading 2.2% average resolution). To validate this result, we conduct the indoor experiment and on-sky observation. An indoor solar GLAO platform is designed and constructed. Experiments show good agreement with our simulation results. Our on-sky observation is conducted on the 1-m New Vacuum Solar Telescope. GSs in a ring layout improve uniformity by 18.70%, although this comes with 16.25% reduction in the generalized Fried parameter compared with the center + ring GS layout. © 2025, The Authors. All rights reserved.

关键词： Adaptive optics

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Wide-field resolution uniformity for solar ground-layer adaptive optics

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Optics and Lasers in Engineering 2025年 193卷

作者： Yang, Ying Zhang, Lanqiang Yan, Nanfei Tong, Dingkang Ran, Xian Zhong, Libo Rao, Changhui National Laboratory on Adaptive Optics Shuangliu Sichuan Chengdu610209 China Research Institute of Applied Technology for Specialized Robot School of Electronic Engineering Chengdu Technological University Pidu Sichuan Chengdu611730 China Institute of Optics and Electronics Chinese Academy of Sciences Shuangliu Sichuan Chengdu610209 China University of Chinese Academy of Sciences Yanqi Lake Beijing100049 China School of Electronic Electrical and Communication Engineering of the University of Chinese Academy of Sciences Yanqi Lake Beijing100049 China

Ground-layer adaptive optics (GLAO) has significant potential for solar observations of ground-based telescopes due to its ability to provide wide field-of-view (FOV) correction. Ground-based telescopes always pursue high spatial resolution to improve observational quality, which is typically evaluated by the full width at half maximum of the point spread function. However, GLAO system also requires uniform spatial compensation across a wide FOV, particularly for accurate solar magnetic field topology and speckle imaging techniques. Multiple guide stars (GS) are used to detect ground-layer turbulence, and their layout greatly influences observational quality. To this end, in this paper, we optimize the GS layout to improve spatial resolution uniformity for wide-field GLAO. Specifically, we propose a novel wide-field resolution uniformity metric to evaluate the observational quality in GLAO system. Based on this innovative metric, simulations identify two effective GS configurations: the center + ring GS layout achieves higher resolution, and the single ring GS layout exhibits more uniform correction across a wide FOV (improving 41.4% resolution uniformity by trading 2.2% average resolution). To validate this result, we conduct the indoor experiment and on-sky observation. An indoor solar GLAO platform is designed and constructed. Experiments show good agreement with our simulation results. Our on-sky observation is conducted on the 1-m New Vacuum Solar Telescope. GSs in a ring layout improve uniformity by 18.70%, although this comes with a 16.25% reduction in the generalized Fried parameter compared with the center + ring GS layout. © 2025

关键词： Adaptive optics

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Development of a robot behavior controller for an r-learning system using OPRoS

Development of a robot behavior controller for an r-learning...

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Ji, Sang-Hoon Han, Jae-Seong Lee, Sang-Moo Choi, Byung-Wook Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of

ISBN: (纸本)9781457707223

In this paper, we suggest an r-learning (robot-learning) system for children who are unfamiliar with educational tools. Our system is characterized with the following features. Firstly, the system provides children with personalized educational instructions considering their learning ability. In our system, learning contents for them are selected according to their learning history extracted from human-robot interaction data. Secondly, our system helps them learn educational contents easily and joyfully through various behavioral interactions with a robot. Third, r-learning scenarios are modeled with Petri-net to handle exception during learning and robot contents can be composed by use of predefined robot behaviors. Finally, we implement these system S/W using OPRoS which is a software platform for robotic services. © 2011 IEEE.

关键词： Petri nets

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