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检索条件"机构=Applied Robot Technology"

共 197 条记录，以下是31-40 订阅

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Implementation of force sensor with multi strain gauges for enhancing accuracy and precision

Implementation of force sensor with multi strain gauges for ...

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2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010

作者： Kim, Y.C. Ihn, Y.S. Choi, H.R. Lee, S.M. Koo, J.C. School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9781424471010

A force sensor using strain gauges is widely used in many mechanical measuring systems. A method of measuring force and contact point using two gauges is available although it rather limited to extension of micro scale measurement. In order to overcome this limitation and to maximize a precision of the strain gauge sensor, sensor structure was optimized. Also, we used Kalman filtering for increasing an accuracy. It significantly increase the signal to noise ratio and stability of the sensor. This force sensor using strain gauges will be applied to diverse fields such as inspecting a micro system or manipulating small devices. © 2010 IEEE.

关键词： Strain gages

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Constructing the performance evaluation system to measure the actual cleaning coverage area of vacuum cleaning robot

Constructing the performance evaluation system to measure th...

引用

39th International Symposium on robotics, ISR 2008

作者： Park, Jae-Han Park, Kyung-Wook Baeg, Seung-Ho Choi, Byung-Wook Baeg, Moon-Hong Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa1-dong Ansan 426-791 Korea Republic of

In recent years, robot industries have developed many vacuuming cleaning robots employing coverage methods based on various algorithms such as genetic algorithm, neural networks, and spiral filling paths. However, there is not enough fair system to determine the excellence of different cleaning robots because most of the commercially available cleaning robots are separately evaluated by each observer in different experimental environments. Therefore, it is important to measure and compare the performances of different vacuuming cleaning robots under the same conditions (e.g., the same room size and operating time). This paper present a novel system for measuring the quantities such as the cleaning coverage areas of vacuum cleaning robots and the overall operating time until the cleaning coverage percentage is 90%. For this purpose, we build a test environment with IGPS and camera sensors. Also, in contrast with existing coverage evaluation methods, we employ the suction coverage models corresponding to suctions of specific cleaning robots for measuring the more accurate coverage area. As a consequence, we evaluate the performances of vacuum cleaning robots via our performance evaluation system.

关键词： Genetic algorithms

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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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2004 IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Won, Daeheui Lee, Ho-Gil Kim, Jin-Young Choi, Moosung Kang, Min-Sung Contr. and Intell. Research Group Div. for Applied Robot Technology Korea Inst. of Industrial Technology Cheonan and Ansan Korea Republic of

ISBN: (纸本)0780384636

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： Typewriter keyboards

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Auditory-visual speech recognition error detection using longest common subsequence matching of vowel sequences

Auditory-visual speech recognition error detection using lon...

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作者： Ko, Woohyun Lee, Kwanghee Lee, Seungjoon Lee, Sangmoo Department of Applied Robot Technology Korea Institute of Industrial Technology Sa3-dong Sangrok-gu Ansan Korea Republic of

ISBN: (纸本)9789604742608

Speech recognition based on only auditory information tends to be very susceptible to external noise. In this study, we investigated how visual information can be useful to improve speech recognition. We can guess a part of talking by an opponent from a shape of his/her mouth. Especially, information about vowels in opponent's talk is able to be sufficiently obtained from the lip shape. The information about an order of sequence of vowels which is found by analyzing the change of the lip shape can be used as an indicator to evaluate confidence for recognition based on an unclear voice. Using the longest common subsequence algorithm, comparison of the order of sequences of vowels resulted from the speech recognition based on voice and one from the lip reading based on version is helpful to improve confidence for the speech recognition. Studies to decrease error ratio of speech recognition allow magnifying application of a technique of speech recognition in a noisy environment.

关键词： Speech recognition

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Kinematic design of a redundant parallel mechanism for maskless lithography optical instrument manipulations

Kinematic design of a redundant parallel mechanism for maskl...

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作者： Ihn, Yong Seok Ji, Sang-Hoon Moon, Hyungpil Choi, Hyouk Ryeol Koo, Ja Choon School of Mechanical Engineering Sungkyunkwan University Suwon 440-746 Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

A new precision parallel mechanism having actuation redundancy will be introduced in this paper. Physical contribution of the actuation redundancy for the precision parallel mechanism is reviewed. In addition, several kinematic configurations have been analyzed for degrees of freedom verification and actuation redundancy. A new kinematic configuration which is 4-[P P]PS is suggested. The suggested 4-[P P]PS mechanism which has actuation redundancy provides six degrees of freedom to the mobile platform. For position control and path planning of the mobile platform, the inverse and the forward kinematics are solved for closed-form solutions. In order to verify the inverse and the forward kinematics, a numerical simulation result is presented. In addition to the inverse and forward accuracy proof, the numerical analysis provides other information such as independent translation motion, calibrated rotation arm at tilting motion, and symmetric motion at rotating motion. © 2014 Springer-Verlag Berlin Heidelberg.

关键词： Position control

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Development of an anthropomorphic robot hand aimed at practical use for wide service robot application

Development of an anthropomorphic robot hand aimed at practi...

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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Park, Sung-Woo Bae, Ji-Hun Park, Jae-Han Baeg, Moon-Hong Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan RandD Center 1271-18 Sa-3-dong Sangrok-gu Ansan Korea Republic of

ISBN: (纸本)9781467304283

This paper describes an anthropomorphic robot hand and its experiments. The robot Hand is a very complicated system composed of a large number of joints. Also, there are limitations of size and weight in the development of the robot hand. Because of these reasons, to manufacture an useful robot hand is a difficult work. Our final goal is a development of a robot hand for practical use in wide service robot application. Firstly, we define several requirements of a robot hand in the sense of structure and function. Although it is difficult to satisfy all of the requirements, we try to develop a robot hand including those. The developed robot hand has 4 full-actuated fingers with total 16 joints. By using of DC motor and spur gears as an actuator unit, the size, weight and cost of the robot hand becomes reasonable. A control of finger is conducted with only geometrical information of fingers without any force sensing. In order to verify performance of the hand, various results of experiments, grasping of unknown rigid and non-rigid object, are presented. In addition, experimental results of grasping under disturbances are also presented. © 2012 IEEE.

关键词： Anthropomorphic robots

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Development of quadruped walking robot using a hydraulic rotary actuator

Development of quadruped walking robot using a hydraulic rot...

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39th International Symposium on robotics, ISR 2008

作者： So, Byungrok Kim, Tae-Ju Won, Daehee Kwon, Ohung Park, Sangdoek Son, Woong-Hee Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-1-dong Sangrok-gu Ansan Kyunggi 426-791 Korea Republic of

This paper is introduced a quadruped walking robot for transportation, developed by KITECH (Korea Institute of Industrial technology). This robot is composed of four legs, engine, power package and hydraulic rotary actuators. It is installed an engine and small-size/high-power hydraulic rotary actuators for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The size of this robot is 1.2m x 1m x 0.4m (height, length and width, respectively) and the degree of freedom is fifteen. Also it can carry over 100 kg totally including 60 kg payload. For this, it is developed a hydraulic rotary actuator that is light weight and compact size. The total control system comprises a main controller system, a hydraulic servo system and an engine/hydraulic power control system. And, in order to control balance, the kinematic model of quadruped robot is analyzed and the pattern generation method using the virtual model is applied.

关键词： Control systems

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An enhanced vision processing algorithm for a micro-manipulation system

An enhanced vision processing algorithm for a micro-manipula...

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2007 IEEE International Workshop on robotic and Sensor Environments, ROSE 2007

作者： Ihn, Y.S. Ryu, S.H. Choi, B.J. Ha, S.H. Choi, H.R. Lee, S.M. Koo, J.C. Department of Mechanical Engineering Sung Kyun Kwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)1424415276

As the physical sizes of many electrical devices and their components shrink to sometimes only a few microns, expanding dextrousness and obtaining rapidity of a precise micro-manipulation system become one of the major issues in the industry. Especially for an assembly process that handles complicated mechanical alignments of many tiny objects in the three-dimensional space, a proper identification of the alignment errors and a fast decision of manipulation plan should be guaranteed in order to keep the manufacturing costs in an affordable range. In most of the current precise manufacturing processes, identification of the misalignment is normally carried out by machine vision systems. And the limited data process speed of the vision system usually hampers enhancement of overall system performance. In the present work, a modified binary region median filter combined with a labeling based segmentation scheme for the enhancement of a machine vision system is introduced. The suggested algorithm shows not only shows improved data processing speed but provides a better accuracy on the identification of a target object. © 2007 IEEE.

关键词： Computer vision

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Experimental investigation on the design of leg for a hydraulic actuated quadruped robot

Experimental investigation on the design of leg for a hydrau...

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Kim, Jin Tak Cho, Jung San Park, Byung-Yun Park, Sangdeok Lee, Youngsoo Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-3-dong Sangrok-gu Ansan Kyunggi 426-791 Korea Republic of

ISBN: (纸本)9781479911738

Hydraulic actuation has the advantage of substantial power and wide range of speed with a small size and low weight. Because of this advantage, hydraulic actuation is used often for a robot dealing with heavy-weight material or walking fast. However, in a walking robot, the power of hydraulic actuator can act as the ground reaction forces between the feet and the ground surface, breaking the balance of the body. Therefore, compact design of a body including the feet and module design for absorption of the ground reaction forces is critical. This paper explains leg design for compact design of hydraulic actuated quadruped robot. Also, this paper describes about a shock absorber design included in the feet module by walking-in-place experiments. © 2013 IEEE.

关键词： Multipurpose robots

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Robust mobile robot localization with Combined Kalman Filter-perturbation estimator

Robust mobile robot localization with Combined Kalman Filter...

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作者： Kwon, Sang Joo Yang, Kwang Woong Park, Sangdeok Ryuh, Youngsun School of Aerospace and Mechanical Engineering Hankuk Aviation University Goyang Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)0780389123

In this paper, a robust localization method for mobile robot based on the combination of Kalman filter and perturbation estimator is presented. It remarkably enhances the robustness of localization performance, specifically when large odometric errors are occurred. The perturbation estimator in the Combined Kalman Filter (CKF) is to estimate systematic errors which perturbs the behavior of nominal state transition equation. Intrinsically, it has the property of integrating the innovation, i.e., the difference between measurement and predicted measurement and thus gives a chance of more reducing the gap between real states and their estimates. After formulation of the CKF recursion, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS. © 2005 IEEE.

关键词： Mobile robots

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