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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Jun-Sik Kim MyungHwan Jeon Jung-Min Park Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Hwarangro 14 gil 5 Seongbuk-Gu Korea Robotics Program KAIST Korea

We present a method to manipulate virtual objects which are constrained complexly and reconfigurable as if they would exist in a real world by using multiple hands simultaneously. A complexly constrained, and reconfigurable object, such as a Rubik's cube, is hard to describe its physical motion constraints, mainly because they are determined by the grasping situation and dynamically changeable. Rather than describing the physical motion constraints in a general form, we more focus on the multiple hand interaction of a complex object. A complex object is divided into multiple subparts which are grasped by each hand, and the constraints between the subparts are optimized for inducing natural and continuous movement. For this, we propose a dynamically adjustable data structure for representing object parts grasped by multiple hands, and an optimization-based pose estimation of the constrained subparts along with their grasped hands. The experiments show that human subjects can manipulate a complexly constrained object such as a Rubik's cube without any difficulty as if it exists in the real-world.

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Cross-view gait identification based on convolution neural network with joint loss function

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Journal of Institute of Control, robotics and Systems 2019年第5期25卷 463-469页

作者： Lee, Jangwoo Kim, Changhwan Park, Sung-Kee KIST campus Korea Republic of Center for Intelligent and Interactive Robotics and Convergence Research Center for Diagnosis Treatment and Care System of Dementia Korea Institute of Science and Technology Korea Republic of

Most current gait recognition approaches based on convolution neural networks (CNNs) do not learn the discriminative features of separable inter-class differences resulting from cross-view data. To improve this discriminative ability, this paper proposes a network that reduces intra-class variation using a center loss function for view-invariant gait recognition. The proposed method achieved 92% accuracy using OU-MVLP, the largest existing gait recognition dataset. Furthermore, a network trained using the OU-MVLP achieved 95% accuracy with the OU-LP. These results demonstrate that the proposed method offers a good generalization performance. © ICROS 2019.

关键词： Convolution

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Towards Fully Reactive Multi-step Generation for Humanoids against Instantaneous Push: A Case of Walking in Place in Sagittal Plane

Towards Fully Reactive Multi-step Generation for Humanoids a...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Gyunghoon Park Jung Hoon Kim Yonghwan Oh Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul Korea Pohang University of Science and Technology Pohang Korea

In this paper, we address the problem of generating a trajectory of the zero-moment point (ZMP) and the rate of angular momentum for a bipedal robot in the sagittal plane, with which the balance of the robot is recovered from external push. Unlike most previous works that adjusted a pre-designed ZMP or solved (possibly too heavy) nonlinear optimization problems, our main purpose is to develop a fully reactive step generator in the sense that (a) no pre-calculation of nominal trajectory is required, and (b) the algorithm is simple enough to operate in real time, only by utilizing the current state of the robot. For the design, it is seen by reinterpreting the centroidal dynamics in the hybrid model framework that the balance recovery problem can be recast as the problem of stabilizing a hybrid-type (linear) inverted pendulum model. On the basis of the concept of the divergent component of motion, a simple hybrid control law is then constructed to stabilize the hybrid system, which serves as a step generator that automatically determines where and when to step. This paper briefly sketches a mathematical proof on the performance of the proposed generator from a control-theoretic perspective, which is also supported by simulation results.

关键词： Trajectory Generators Force Legged locomotion Robot sensing systems Optimization

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Development of a Surgical-Forceps Driver with an Embedded High-precision Tiny Force Sensor Module

Development of a Surgical-Forceps Driver with an Embedded Hi...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Sungwoo Park Namseon Jang Jinwoo Jeong Yong Seok Ihn Sehyuk Yim Sungwook Yang Keehoon Kim Sang-Rok Oh Donghyun Hwang Korea University Seoul Republic of Korea Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul Republic of Korea

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

We propose the forceps driver that can be applied to the tele-operated microsurgical robot platforms as an end-effector. In developing the device, it is aimed to implement the compact-sizable and lightweight forceps driver having high-precision gripping-force control capability. To achieve this aim, we mainly consider about two key components of the device: the actuator to drive the surgical-forceps and the sensor to measure the gripping-force. As the suitable actuator, the wire-type SMA (shape memory alloy) actuator is applied to the driver due to its operational merits such as high energy density and mechanical simplicity in configuring actuator system. And, in the case of the force sensor, a high-precision tiny BSFS (barometer-based soft force sensor) module exhibiting high sensitivity and linearity is fabricated and embedded into the driver. The forceps driver consisting of the SMA actuator, the BSFS module, and a simple driving mechanism is conceptually designed and then prototyped to experimentally carry out driving characterization and performance evaluation. In the experiments, the self-tuning fuzzy PID controller is designed and used for high-precision force control. The experimental result on the gripping-force controllability demonstrates that the minimum controllable gripping-force of the proposed forceps drive is about 0.07 N.

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Are you hearing or listening? The effect of task performance in verbal behavior with smart speaker*

Are you hearing or listening? The effect of task performance...

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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Chaewon Park Jongsuk Choi Jee Eun Sung Yoonseob Lim Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul Korea Department of Communication Disorders EWHA Womans University Seoul Korea

Human has an ability to adjust utterance depending on the state of interlocutor. In this study, we explore the verbal behaviors of human through interaction with two smart speakers that have different level of task competence. We analyzed (1) linguistic behaviors appeared in user's utterance, (2) length of the uttered speech, and (3) required pragmatics skills to understand the user's intent. As a result, there were no significant difference in linguistic behaviors and length of the speech while user interacts with speakers with different task competence. In addition, various pragmatics elements were equally utilized and especially, implied intentions were frequently observed in user's short utterance even under simple interaction scenarios.

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HaptiCube: a Compact 5-DoF Finger-wearable Tactile Interface*

HaptiCube: a Compact 5-DoF Finger-wearable Tactile Interface...

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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Byeongkyu Lim Keehoon Kim Sang-Rok Oh Donghyun Hwang Department of Mechanical Engineering Korea University Seoul South Korea Center for Intelligent and Interactive Robotics Research Korea Institute of Science and Technology Seoul South Korea

We develop a novel cube-shaped finger-wearable haptic interface named as HaptiCube. With the aim of implementing the tactile device with improved functionality and wearability, we focus on designing the device to have two characteristics: multi-DOF force feedback displayability and large force capability with compact and lightweight structure. In designing the device, we mainly consider the type and configuration of actuator and driving mechanism, since both have a great effect on the size, weight, and output force of the device. As the actuator, we select the shape memory alloy exhibiting high energy density. And, as the driving mechanism, two different types of compliant mechanism are designed for two important functions: to convert contraction of the SMA to the desired motion as a motion guide and to apply bias-force to the SMA as a bias-spring. The device is designed as the miniature interface that can display 3-DOF pressure and 2-DOF shearing force to user's fingerpad. And, it is implemented as the functional prototype with the total weight of 26 g including actuators and all mechanical components. The experimental results on working performances (e.g. stroke, output force, and bandwidth) demonstrate that the device has superiority in terms of multi-DOF displayability, compact-sizability and wearability.

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Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems

Learning Barrier Functions for Constrained Motion Planning w...

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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Matteo Saveriano Dongheui Lee Intelligent and Interactive Systems and Digital Science Center (DiSC) University of Innsbruck Innsbruck Austria Human-Centered Assistive Robotics Technical University of Munich Munich Germany

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work presents a novel approach to learn workspace constraints from human demonstrations and to generate motion trajectories for the robot that lie in the constrained workspace. Training data are incrementally clustered into different linear subspaces and used to fit a low dimensional representation of each subspace. By considering the learned constraint subspaces as zeroing barrier functions, we are able to design a control input that keeps the system trajectory within the learned bounds. This control input is effectively combined with the original system dynamics preserving eventual asymptotic properties of the unconstrained system. Simulations and experiments on a real robot show the effectiveness of the proposed approach.

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Modeling actuation of ionomer cilia in salt solution under an external electric field

Modeling actuation of ionomer cilia in salt solution under a...

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ASME 2019 Dynamic Systems and Control Conference, DSCC 2019

作者： Boldini, Alain Rosen, Maxwell Cha, Youngsu Porfiri, Maurizio Department of Mechanical and Aeronautical Engineering New York University Tandon School of Engineering BrooklynNY11201 United States Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul02792 Korea Republic of Department of Mechanical and Aeronautical Engineering Department of Biomedical Engineering New York University Tandon School of Engineering BrooklynNY11201 United States

ISBN: (纸本)9780791859162

A recent experiment by Kim's group from the University of Nevada, Las Vegas has demonstrated the possibility of actuating ionomer cilia in salt solution. When these actuators are placed between two external electrodes, across which a small voltage is applied, they move toward the cathode. This is in stark contrast with the case of ionic polymer metal composites, where these ionomers are plated by metal electrodes and bending occurs towards the anode. Here, we seek to unravel the factors underlying the motion of ionomer cilia in salt solution through a physically-based model of actuation. In our model, electrochemistry is described through the Poisson-Nernst-Planck system in terms of concentrations of cations and anions and voltage, which is solved through the finite element method. Based on computer simulations, we establish that Maxwell stress is the main driving force for the motion of the cilia. © 2019 ASME.

关键词： Electrodes

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Gait analysis system based on slippers with flexible piezoelectric sensors

Gait analysis system based on slippers with flexible piezoel...

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IEEE International Conference on robotics and Biomimetics

作者： Youngsu Cha Jisu Shin Kahye Song Doik Kim Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul Republic of Korea

ISBN: (纸本)9781728103785;9781728103778

This study introduces a gait analysis system using a pair of slippers with flexible piezoelectric sensors. We install only one flexible sensor based on polyvinylidene fluoride, which is a flexible piezoelectric material, in each slipper. The flexible sensor is positioned in the slipper sole area under the inner arch of the foot. In this position, the sensor undergoes bending for walking, and generates electrical signals through the piezoelectric characteristic. We focus on the detection of the heel strike and toe-off moments from the sensor output. We then acquire the floor contract information of the slippers from the detection and extract eight gait parameters. We develop a gait analysis system including the sensing slippers, a sensing module for data collection and wireless communication, and an external computer with the data processing program. Moreover, we demonstrate that the proposed total gait analysis system based on the slippers with the flexible piezoelectric sensors works efficiently.

关键词： Flexible sensor Gait analysis Piezoelectric Slipper

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Tri-iron tetra-oxide and silicone composite beam actuator

Tri-iron tetra-oxide and silicone composite beam actuator

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IEEE International Conference on robotics and Biomimetics

作者： Kahye Song Youngsu Cha Center for Intelligent & Interactive Robotics Korea Institute of Science and Technology Seoul Republic of Korea

ISBN: (纸本)9781728103785;9781728103778

Soft actuators should have flexible body and be controlled by external inputs. For soft actuator development, it is very important which materials are utilized. Silicone is a typical material for soft actuators and has high flexibility and versatility. We developed a new material actuator by adding the electrical conductivity of tri-iron tetra-oxide to the silicone material properties. We show the whole fabrication process for the actuator. And, for the detailed characteristic investigation, we conduct actuation test of the developed beam type actuator. First, the electrostatic attraction force is applied to the actuator. We show that the actuator is controlled as the amplitude and frequency of the input voltage potential. Also, we searched its resonant frequency for larger motion. In addition, we tested the actuator in influence of magnet and confirm that it works well. It is expected that the actuator can be adapted to various robot researches.

关键词： Soft actuator Soft material Beam actuator Silicone Tri-iron tetra oxide

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