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2012 21st IEEE International Symposium on robot and Human Interactive Communication, RO-MAN 2012

作者： Ahn, Ho Seok Lee, Dong-Wook Choi, Dongwoon Lee, Duk-Yeon Hur, Manhong Lee, Hogil Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Kyoto 619-0288 Japan

ISBN: (纸本)9781467346054

There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33. © 2012 IEEE.

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Foot Trajectory Generation of Hydraulic Quadruped robots on Uneven Terrain

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IFAC Proceedings Volumes 2008年第2期41卷 3021-3026页

作者： HyoungKwon Kim Daehee Won Ohung Kwon Tae-Ju Kim Sang-Seok Kim Sangdeok Park Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea (Tel:+82-31-8040-6293

This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to operate outdoors with the static and dynamic mobility. The efficiency and performance of the proposed are verified through the computer simulation and experiments using qRT-1/-2. In experiments, qRT which is a 2-legged and 2-wheeled robot and a front drive system vehicle with hydraulic linear actuators is used. The robot has trotted gaits at speeds up to 1.3 m/s on the even surface, walked up and down the 20 degree inclines, and walked at 0.7 m/s on the uneven surface. Also it has carried over 100 kg of the total weights including over 40 kg of the payload.

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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...

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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

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.

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...

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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

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.

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...

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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

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.

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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Visual Servoing of a Wheeled Mobile robot using Unconstrained Optimization with a Ceiling Mounted Camera

Visual Servoing of a Wheeled Mobile Robot using Unconstraine...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

We propose an image-based visual servoing algorithm of a wheeled mobile robot utilizing a ceiling mounted camera. The visual navigation of a mobile robot is defined as an unconstrained optimization problem to minimize the image difference between the goal position and the position of a mobile robot in the image plane. Full New ton's method is applied for unconstrained optimization. We also propose a method to find the Hessian term of the image error using a secant approximation method. The performance of visual servoing was evaluated using the simulation.

关键词： Visual servoing Mobile robots robot vision systems Cameras robot kinematics Jacobian matrices Motion planning Service robots Human robot interaction Orbital robotics

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Integration of recognition and planning for robot hand grasping

Integration of recognition and planning for robot hand grasp...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Yong-Deuk Shin Ga-Ram Jang Jae-Han Park Ji-Hun Bae Moon-Hong Baeg Applied Robot Technology R & D Group Korea Institute of Industrial Technology Korea

A robot should be able to recognize and estimate the pose of an object in order to grasp it. In addition, the robot should be able to infer the most reasonable strategy for grasping the object, which varies according to the type and pose of the object. In this paper, we design a grasping strategy engine for this purpose and suggest a method for recognizing and estimating the pose of an object with no two-dimensional intensity image. We also introduce our grasping data acquisition system (GDAS) for learning the best grasping strategy. The grasping strategy is composed of the approaching vector, opposition vector, and grasping type. In this paper, we use the iterative closest point (ICP) [1] algorithm for recognizing and estimating the pose of an object, along with an artificial neural network for selecting the best grasping strategy.

关键词： Grasping Iterative closest point algorithm Three-dimensional displays Databases Estimation robots Vectors

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Design of a personalized r-learning system for children

Design of a personalized r-learning system for children

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2010 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： W.H. Ko S.M. Lee K.T. Nam W.H. Shon S.H. Ji Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

This paper introduces the r-learning (robot-learning) system that utilizes robotic interactions to personalize instructions for individual children. A child who is not familiar with using an educational tool to study could learn readily from educational contents through various interactions with a robot which is based on the behavior control. The contents which are chosen according to a child's learning data extracted by analysis from human-robot interaction data could lift the educational effectiveness. An r-learning scenario is designed by using Petri net to handle exception occurred in a learning process. The robot contents maker and the Open API for operating a robot are described as management utilities for a personalized r-learning system.

关键词： Servers Electronic learning robot sensing systems Hardware Service robots

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Growth Engines and Key Technologies for Manufacturing Innovation: An IMS Perspective

Growth Engines and Key Technologies for Manufacturing Innova...

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2008 International Conference on Smart Manufacturing Application (ICSMA 2008)

作者： Byung-Wook Choi Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

Based on the recent IMS Vision Forum held by the International IMS Program (Scheme), the growth engines that would help manufacturing sector economically grow in the future are explored in this paper. Key technologies for manufacturing innovation and environmental sustainability that will be needed to support the growth engines are then sought, along with education for future manufacturing.

关键词： Growth Engine IMS Program (Scheme) Manufacturing Innovation Manufacturing Technologies

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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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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Jae-Seong Han Sang-Moo Lee Byung-Wook Choi Department Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

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.

关键词： Manganese

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