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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty robot sensing systems

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The energy minimization algorithm using foot rotation for hydraulic actuated quadruped walking robot with redundancy

The energy minimization algorithm using foot rotation for hy...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, robotIK 2010

作者： Kim, Tae-Ju So, Byungrok Kwon, Ohung Park, Sangdoek Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9781617387197

In a stand-Alone hydraulic power system for quadruped walking robot, the hydraulic flow consumption is an important parameter during walking. An inefficient large displacement of each angular joint motion caused by foot rotational trajectory without considering kinetic energy increases hydraulic flow consumption. And it requires the higher capacity of power system and it will be a burden on walking robot. In this paper, we proposes a redundancy resolution algorithm that minimized the hydraulic flow consumption for hydraulic actuated quadruped walking robot with redundancy resolution. And the performance of the proposed algorithm is tested using computer simulations.

关键词： Kinetic energy

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Classification of health grade using bio-check unit and health index

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Journal of Biomechanical Science and Engineering 2011年第3期6卷 148-159页

作者： Yi, Seong-Il So, Byung-Rok Lee, Chong-Sun Lee, Seung-Ju Park, Seon-Kyun Park, Byung-Kang Chung, And In-Wook Division of Applied Robot Technology KITECH 1271-18 Sa-1-dong Sangrok-gu Ansan City Kyungki-do Korea Republic of College of Mechanical and Control Engineering Handong Global University 3 Namsong-ri Heunghae-eub Pohang City Korea Republic of Department of Family Medicine Sunlin Hospital 69-7 Daesin-dong Buk-gu Pohang City Korea Republic of

A bio-check unit and health index were developed to evaluate personal health grade. The bio-check unit conducts health-related surveys and noninvasive measurements of physiological signals. Four health indices were defined such as cardiovascular index, stress index, obesity index, and management index. Programs were developed to evaluate scores of the four health indices from measured physiological signals and answers of survey questions. In order to obtain distributions of the health index scores with age, a clinical study was performed for 362 persons who visited general hospital for annual health inspection. The health index scores showed significant correlations with age. Based on the regression equation with age, five regions were divided in health index scores to classify personal health grade. The health index scores were found to identify specific diseases such as hypertension and diabetes. © 2011 by JSME.

关键词： Surveys

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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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The energy minimization algorithm using foot rotation for hydraulic actuated quadruped walking robot with redundancy

The energy minimization algorithm using foot rotation for hy...

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Joint international symposium on robotics

作者： Tae-Ju Kim Byungrok So Ohung Kwon Sangdoek Park Department of Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9783800732739

In a stand-alone hydraulic power system for quadruped walking robot, the hydraulic flow consumption is an important parameter during walking. An inefficient large displacement of each angular joint motion caused by foot rotational trajectory without considering kinetic energy increases hydraulic flow consumption. And it requires the higher capacity of power system and it will be a burden on walking robot. In this paper, we proposes a redundancy resolution algorithm that minimized the hydraulic flow consumption for hydraulic actuated quadruped walking robot with redundancy resolution. And the performance of the proposed algorithm is tested using computer simulations.

关键词： walking robots redundancy hydraulic flow power systems ENERGY MINIMISATION kinetic energy HIGH CAPACITY Hydrodynamics

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Input shaping command to reduce residual vibration of payload having multi degree of oscillation

Input shaping command to reduce residual vibration of payloa...

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作者： Kim, D. Nam, K.T. Lee, S.M. Department of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa3-dong Sangrok-gu Ansan Korea Republic of

ISBN: (纸本)9789604742608

This paper focuses on the behavior of tower crane installed in nuclear waste storage because it exhibits oscillations which the common industrial craned does not exhibit. It has double-pendulum motion in horizontal movement and with added oscillation it has simple-harmonic oscillation in vertical movement because of elasticity of crane cable hoisting heavy payload mass. Therefore, this paper focuses on input shaping command to reduce two mentioned oscillations which are hazardous to environment and operation. Simulations are performed and experiments are delivered using miniature crane.

关键词： Pendulums

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Testing of Applying Emotional Behavior Decision Model to Cyber robots with Different Purposes

Testing of Applying Emotional Behavior Decision Model to Cyb...

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2010 International Conference on Test and Measurement (ICTM2010)

作者： Ho Seok Ahn Jin Young Choi Dong-Wook Lee Hogil Lee Woong Hee Shon Department of Applied Robot Technology Korea Institute of Industrial Technology School of Electrical Engineering and Computer Science Seoul National University Department of Applied Robot Technology Korea Institute of Industrial Technology

This paper introduces a test of applying an emotional behavior decision model to cyber robots with different *** emotional reaction is different from purpose of emotional robot,an emotional behavior decision model is designed for applying various emotional robots which have different *** model is designed based on linear dynamics and calculates emotions according to purposes of emotional *** implement a cyber robot system based on unit behaviors.A unit behavior indicates the smallest expressible behavior in each expression *** cyber robot expresses its behaviors without predefined behavior database.

关键词： Emotional behavior decision model,Emotional robot,Cyber robot,Unit behavior,Emotional probability

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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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An efficient sweeping strategy for swarm robots

An efficient sweeping strategy for swarm robots

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作者： Park, Jeong-Seop Lee, Sang-Moo Shon, Woong-Hee Lim, Myo-Taeg Department of Electrical Engineering Korea University Anam-dong Seongbuk-gu Seoul Korea Republic of Department of Applied Robot Technology Korea Institute of Industrial Technology Sa3-dong Sangnok-gu Ansan Korea Republic of

ISBN: (纸本)9789604742608

This paper focuses on the collaborative swarm robot tasks. It is assumed that a robot cannot communicate with each other but a robot can localize itself accurately. In this paper, the objective of proposed algorithm is perfectly completing the given missions which require collaborative multi-robot tasks and is improving productivity. In addition, the proposed algorithm is applied to the stick-pulling problem which was first studied by A. Martinoli and F. Mondada. Last but not least, the probabilistic completeness is verified by simulation results handling homogeneous multi-robot.

关键词： Multi agent systems

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A visual compass based on UKF SLAM

A visual compass based on UKF SLAM

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作者： Han, Jae-Seong Lee, Sang-Moo Ji, Sang-Hoon Department of Intelligence Robotics Engineering University of Science and Technology Sa3-dong Sangrok-gu Ansan Korea Republic of Department of Applied Robot Technology Korea Institute of Industrial Technology Sa3-dong Sangrok-gu Ansan Korea Republic of

ISBN: (纸本)9789604742608

In this paper, we present a visual compass based on the Unscented Kalman Filter Simultaneous Localization and Mapping (UKF SLAM) using a low-cost camera. The Extended Kalman Filter (EKF) based visual compass has been proposed. However, the output of the UKF is more accurate than the EKF for nonlinear systems like the visual compass. In this work, the UKF is applied to the visual compass to improve the accuracy of the output. The experiment results show that the proposed approach successfully performed.

关键词： Extended Kalman filters

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