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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jae Hoon Lee Byung-Ju Yi Sang-Rok Oh Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control paramete. Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints. The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested. Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount of the internal impulse is minimized. It is demonstrated through simulation that the dual arm exhibits better sawing performance over a single arm in aspects of external and internal impulses.

关键词： Performance analysis Sawing Robot kinematics Arm Humans Manipulators Injuries Manufacturing Robot control Equations

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Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots

Optimal design and actuator sizing of redundantly actuated o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Tae Bum Park Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Burn Jae You Sang-Rok Oh School of Electrical Engineering and Computer Science Hanyang South Korea Department of Control & Instrumentation Engineering Korea University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.

关键词： Actuators Mobile robots Wheels Angular velocity Optimal control control systems Roads Computer science intelligent systems intelligent control

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A BEHAVIOUR-BASED APPROACH TO REACTIVE NAVIGATION FOR AUTONOMOUS ROBOT

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IFAC Proceedings Volumes 2002年第1期35卷 109-114页

作者： D.Y. Yoon S.R. Oh G.T. Park B.J. You Dept. of Electrical Engineering Korea Univ. Intelligent System Control Research Center Korea Institute of Science and Technology(KIST): 39-1 Haweolgog-dong Seongbuk-gu Seoul Korea

This paper proposes a new effective behaviour-based reactive navigation methodology for autonomous mobile robot. Its main contribution is based on newly proposed egocentric 'homeostatic' approach by which behaviours are coordinated while taking advantages of both competitive and cooperative method. In order to accomplish autonomous navigation, direction and velocity are modulated automatically by single real value, ***'satisfaction level' without any central or additional module so that this method becomes simple, consistent, and flexible. The validities of the proposed methodology are shown by graphic simulation and experiments with wheeled mobile robot.

关键词： robot navigation robot programming mobile robots behaviour robotics

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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation

作者： Lim, MS Lim, JH Oh, SR Dept. of Mechatronics Kyonggi Institute of Technology South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea Dept. of Electronic Engineering Hanyang University South Korea

ISBN: (纸本)0780372034

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots

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High Speed Indoor Navigation of Mobile Robots Using Hybrid Dynamic control Approach

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IFAC Proceedings Volumes 2001年第4期34卷 257-262页

作者： Mee-Seub Lim Sang-Rok Oh Joonhong Lim Dept. of Mechatronics Kyonggi Institute of Technology Intelligent System Control Research Center Korea Institute of Science and Technology Department of Electronic Engineering Hanyang University

In this paper, we propose a new approach to the high-speed navigation of the indoor environments for wheeled mobile robots using hybrid dynamic control approach. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the di crete states are defined by the user-defined constraints and the abstracted motions specify the reference motion commands of mobile robots. The experimental results show that hybrid system approach is an effective method for the autonomous navigation and highspeed maneuvering.

关键词： Mobile Robot High-Speed Indoor Navigation Hybrid Dynamic control

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Optimal grasping based on non-dimensionalized performance indices

Optimal grasping based on non-dimensionalized performance in...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： Byoung-Ho Kim Sang-Rok Oh Byung-Ju Yi Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea INtelligent System Control Research Center KIST Seoul South Korea

For a multi-fingered hand to grasp an object, there are numerous ways to grasp it stably, and thus an optimal grasp planning is necessary to find the optimal grasp point for achieving the objective of the given task. First, we define several grasp indices to evaluate the quality of each feasible grasp. Since the physical meanings of the defined grasp induces are different from each other, it is not easy to combine those indices to identify the optimal grasping. In this paper, we propose a new generalized grasping performance index to represent all of the grasp indices as one measure based on a non-dimensional technique. Through simulations, we show that the proposed optimal grasp planning is resemblant to the physical sense of human grasping.

关键词： Grasping Uncertainty Fingers Computer science intelligent systems intelligent control control systems Humans Performance analysis Ellipsoids

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A new PWM DC/DC converter with isolated dual output using single power stage

A new PWM DC/DC converter with isolated dual output using si...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Dong-Yun Lee Ick Choy Dong-Seok Hyun Department of Electrical Engineering Hanyang University Seoul South Korea Intelligent system control research center Korea Institute of Science and Technology South Korea

This paper presents a new PWM DC/DC converter with dual output power using a single power stage, which has isolation characteristics between each of the dual outputs. The proposed converter topology is consists of only one switch and single secondary winding. The proposed converter, therefore, has the advantages of not only low cost and small size but also high power density because of using minimum components and devices compared with conventional methods, which use a multi winding transformer or several converters. The operating principle of the proposed converter topology, including the auxiliary circuit with the conventional ZVT (zero-voltage-transition) for soft switching of the main switch, is illustrated in detail and the validity of the converter is verified through several interesting simulated and experimental results.

关键词： Pulse width modulation Pulse width modulation converters DC-DC power converters Switches Switching converters Switching circuits Power generation Costs Circuit topology Circuit simulation

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Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

Kinematic modeling of mobile robots by transfer method of au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control intelligent robots Robot kinematics Instruments Computer science intelligent systems intelligent control control system synthesis

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A real-time color-based object tracking robust to irregular illumination variations

A real-time color-based object tracking robust to irregular ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yong-Beom Lee Bum-Jae You Seong-Whan Lee Department of Computer Science & Engineering Korea University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780365763

Color-based object tracking is an important issue since color is an efficient and robust visual cue for characterizing one object from the other objects. Color segmentation is, however, suffered from color variations induced from irregular illumination variations and the viewing geometry of a camera. This paper proposes a reliable color modeling approach including intensity information in HSI color space using B-spline curves based on the fact that the color distribution of a single-colored object, even in a hue-saturation plane, is not invariant with respect to brightness variations in practical cameras. By using the approach, our color-based visual tracker is able to adapt to irregular illumination variations and abrupt changes of brightness. The approach is applied to real-time face tracking under various illumination conditions in a PC-based vision system.

关键词： Robustness Lighting Face detection Brightness Cameras Histograms Clustering algorithms Tracking Geometry Spline

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Task-based compliance planning for multifingered hands

Task-based compliance planning for multifingered hands

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Byoung-Ho Kim Byung-Ju Yi Sang-Rok Oh Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780365763

Based on the analysis of the stiffness relation between the operational space and the fingertip space of multifingered hands, this paper provides a guideline of task-based compliance planning for multifingered hands. 2D and 3D examples are illustrated to show the characteristics of the task-based stiffness matrix. It is shown that some of coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks.

关键词： Fingers Grasping Force sensors Computational geometry Force control Guidelines Robot sensing systems Robot control Orbital robotics Computer science

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