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检索条件"机构=Department for Applied Robot Technology"

共 90 条记录，以下是21-30 订阅

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Development of a human-like narrator robot system in EXPO

Development of a human-like narrator robot system in EXPO

引用

IEEE Conference on robotics, Automation and Mechatronics

作者： Ho Seok Ahn Dong-Wook Lee Bruce MacDonald Robotics Research Group The University of Auckland Auckland New Zealand Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Republic of Korea

This paper introduces a human-like narrator robot system called EveR-4E. EveR-4E is an android robot platform having human-like appearance, and explains exhibitions with facial expression and gestures. She has movable upper body and mannequin legs for standing on the floor. The skin of the head, arms, and hands is made of silicon jelly to give human-like texture. EveR-4E has fifty-nine degrees of freedom in the head, neck, arms, hands, and torso. Her gestures are designed based on captured body motions of human to give human-like movement. She can be controlled by remote systems controlled by human guide. She introduces robots in the robot exhibit hall of the EXPO 2012 Yeosu Korea.

关键词： Androids Humanoid robots Service robots Face Conferences Floors

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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...

引用

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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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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Designing of android head system by applying facial muscle mechanism of humans

Designing of android head system by applying facial muscle m...

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IEEE-RAS International Conference on Humanoid robots

作者： Ho Seok Ahn Dong-Wook Lee Dongwoon Choi Duk-Yeon Lee Manhong Hur Hogil Lee Department of Applied Robot Technology Korea Institute of Industrial Technology Korea

The facial system plays an important role in human-robot interaction. EveR-4 H33 is a head system for an android face controlled by thirty-three motors. It consists of three layers: a mechanical layer, an inner cover layer and an outer cover layer. Motors are attached under the skin and some motors are correlated with each other. Some expressions cannot be shown by moving just one motor. In addition, moving just one motor can cause damage to other motors or the skin. To solve these problems, a facial muscle control method that controls motors in a correlated manner is required. We designed a facial muscle control method and applied it to EveR-4 H33. We develop the actress robot EveR-4A by applying the EveR-4 H33 to the 24 degrees of freedom upper body and mannequin legs. EveR-4A shows various facial expressions with lip synchronization using our facial muscle control method.

关键词： Facial muscles Muscles Skin Humanoid robots Computer aided software engineering Androids

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Difference of efficiency in human-robot interaction according to condition of experimental environment

引用

4th International Conference on Social robotics, ICSR 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)9783642341021

Human-robot Interaction is most important function for social robot systems. Android robot systems, which have human-like appearance, are used for interaction with humans because they have the merit of showing their emotions by similar way to humans. Lots of these robot systems are developed and verified their efficiency and performance by analyzing the experimental results from questionnaire method. However, the results from questionnaire method can be different from many conditions. In this paper, we analyze the difference of experimental results from questionnaire method by comparing three groups: the first group gains benefits by competition, the second group gains benefits without competition, and the last group does not gain anything. For these experiments, android head system EveR-4 H33, which has 33 motors inside of head to show its facial expressions, is used. © 2012 Springer-Verlag.

关键词： Human robot interaction

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Appropriate emotions for facial expressions of 33-DOFs android head EveR-4 H33

Appropriate emotions for facial expressions of 33-DOFs andro...

引用

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

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

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

引用

IEEE International Conference on Automation Science and Engineering (CASE)

作者： Sung-Woo Park Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Ansan R&D Center Ansan Korea

关键词： robot sensing systems Service robots Manipulators Joints Grasping Humans

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3D-based Visual Assistance System for Teleoperation

3D-based Visual Assistance System for Teleoperation

引用

International Conference on Control, Automation and Systems

作者： Ga-Ram Jang Yong-Deuk Shin Jae-Shik Yoon Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Korea Institute of Industrial Technology (KITECH) Ansan R&D Center

ISBN: (纸本)9781467322478

In this paper, we propose a 3D-based visual assistance system for teleoperation using 3D point cloud data. In a teleoperating system, it is essential to provide the teleoperator with highly realistic information. By using 3D point cloud data, the teleoperator can observe the working environment from different viewpoints and apply various task-solving methods to it.

关键词： Teleoperation 3D point cloud Visual assistance system

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A modified Dynamic Window Approach in crowded indoor environment for intelligent transport robot

A modified Dynamic Window Approach in crowded indoor environ...

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International Conference on Control, Automation and Systems

作者： Baehoon Choi Beomseong Kim Euntai Kim KwangWoong Yang Department of Electrical and Electronic Engineering Yonsei University Division for Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467322478

We propose the modified dynamic window approach for indoor transport robot. The dynamic window approach is the popular collision avoidance algorithm that considers the heading direction of the robot, the distance to the obstacle, and the velocity of the robot. The objective function of the DWA thinks faster speed is better but it is very dangerous when there are many people around. They will feel discomfort with fast vehicle around them. This paper proposes that when the robot is in crowded place which means there are many dynamic obstacles around the robot, the robot move slow down to watch out the collision with them. It is implemented by using several fuzzy rules to determine the possible actions of the robot in DWA. Experiment results are given to validate our proposed method.

关键词： Dynamic window approach DWA Intelligent robot Motion planning

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Output feedback nonlinear control for electro-hydraulic systems

Output feedback nonlinear control for electro-hydraulic syst...

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作者： Kim, Wonhee Won, Daehee Shin, Donghoon Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of

In this paper we present an output feedback nonlinear control for position tracking of electro-hydraulic systems (EHSs). Although previous nonlinear control methods improved the position tracking performance of EHS, all of the methods require full state feedback. However, due to cost and space limitations, it is not always possible to measure the full state of the EHS. The proposed method consists of a high gain observer and a passivity-based controller. The high gain observer is designed to estimate the full state, and the passivity-based control is implemented for position tracking. In order to design the passivity-based controller with the high gain observer, a defined Lyapunov condition guarantee that the origin of the tacking error dynamics is exponentially stable by selecting the controller gain. The stability of the closed-loop is studied using the singular perturbation theorem. The performance of the proposed method is validated through simulations and experiments. © 2012 Elsevier Ltd. All rights reserved.

关键词： Tracking (position)

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