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26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Kim, Jisu Ahn, Minsung Han, Jeakweon Hanyang University ERICA The Department of Interdisciplinary Robot Engineering Systems Ansan15588 Korea Republic of University of California The Department of Mechanical and Aerospace Engineering Los AngelesCA90095 United States Hanyang University ERICA Department of Robotics Ansan15588 Korea Republic of

ISBN: (纸本)9798350317589

The development of a mobile robot entails the utilization of diverse components such as motors, sensors, controllers, and communication systems. Integrating all these components can be a time-consuming and labor-intensive task. Typically, robot engineers need to search for motor drivers, sensors, and controllers individually and integrate them to develop a mobile robot. However, most motor drivers on the market are not specifically designed for mobile robots, and other platforms are not specialized for this purpose either. Therefore, this paper aims to facilitate the development of mobile robots by providing a general-purpose embedded board that supports various communication and sensor systems. © 2023 IEEE.

关键词： Mobile robots

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Towards Natural and Intuitive Human-robot Collaboration based on Goal-Oriented Human Gaze Intention Recognition

Towards Natural and Intuitive Human-Robot Collaboration base...

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IEEE International Conference on robotic Computing (IRC)

作者： Taeyhang Lim Joosun Lee Wansoo Kim Department of Interdisciplinary Robot Engineering Systems Hanyang University Republic of Korea Department of Mechatronics Engineering Hanyang University Republic of Korea Department of Robot Engineering Hanyang University ERICA Republic of Korea

The objective of this paper is to introduce a new method for predicting human gaze intention using a headmounted display, with the aim of enabling natural and intuitive collaboration between humans and robots. Human eye gaze is strongly linked to cognitive processes and can facilitate communication between humans and robots. However, accurately identifying the goal-directed object through human intention remains challenging. This study focuses on developing a method to differentiate between goal and non-goal gaze by creating an area of interest (AOI) on each object through the goaldirected gaze. The Microsoft HoloLens 2 was used to simulate the robot using real-time gaze data in augmented reality (AR). The methods with and without AOI were compared through pickand-place robot manipulation through human gaze prediction. The AOI method resulted a maximum improvement of 19% in the F1 score compared to the baseline method. The results yield strong evidence on intuitiveness and usefulness that the use of pre-defined AOI allows improved performance to predict gaze intention that has the potential to be applied in various fields, where human-robot collaboration can enhance efficiency and productivity.

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Design of the Joint Structure Using a Magnetic Coupling with Linear Motion for Enhanced Braking systems

Design of the Joint Structure Using a Magnetic Coupling with...

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International Conference on Control, Automation and systems ( ICCAS)

作者： HyoJae Kang YongJae Lee SeoHyun Yoo DaeHee Han SeongTaek Im Min-Sung Kang Department of Interdisciplinary Robot Engineering Systems Hanyang University Ansan Korea School of Smart Convergence Engineering Hanyang University Ansan Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This study introduces a robot joint structure utilizing magnetic coupling for non-contact power transmission and braking. The proposed design arranges permanent magnets on the motor shaft and the power-receiving shaft to transmit power via axial magnetic coupling mechanism. During braking, the structure allows linear movement to disengage from the motor shaft. This disengagement prevents power transmission during normal braking and utilizes a fixed magnet array on the opposite side for effective braking in a stopped state. In abnormal braking scenarios, the magnetic coupling characteristic ensuring power transmission is halted by disengaging the coupling, even if the motor continues to rotate, thereby avoiding continuous collisions typical in rigid coupling methods. The design was validated before experiments using magnetic films to verify the correct magnet arrangement. Experiments confirmed the power transmission in a noload state and demonstrated the braking test of disengagement action. Future research will focus on applying this structure to practical robotic applications, aiming to develop telescopic mechanisms or alternative motor configurations to maintain robust connections between moving components.

关键词： Couplings Shafts Magnetic films Resistance Design methodology Power transmission Motors Permanent magnets Reliability robots

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Efficient Target Singulation with Multi-fingered Gripper using Propositional Logic

Efficient Target Singulation with Multi-fingered Gripper usi...

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IEEE/RSJ International Conference on Intelligent robots and systems (IROS)

作者： Hyojeong Kim JeongYong Jo Myo-Taeg Lim ChangHwan Kim Korea Institute of Science and Technology Seoul Korea Department of Electrical Engineering Korea University Seoul Korea Department of Interdisciplinary Robot Engineering Systems Hanyang University Ansan Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

When multiple tablewares are closely packed on a table, rearranging obstacles to make space is necessary to grasp the target, often called target singulation. Due to the nature of handling fragile tablewares (i.e. plates, bowls), we make a few assumptions for the target singulation problem. First, tableware is grasped with a multi-fingered gripper; second, rearrangement is based on prehensile motions like pick-and-place. Under these assumptions, we aim to generate a relocation plan that guarantees global optimality. Furthermore, if any relocation plan cannot singulate the target, we aim to determine it quickly. Therefore, we propose a search method that utilizes the relationship between the object and its nearby obstacles expressed in propositional logic. We define the problem as determining logical entailment (i.e., whether the target can be singulated) and expand the search tree from the target while generating an optimal relocation plan. We demonstrate the performance of our algorithm by increasing the number of objects and validate the plan in a simulation environment.

关键词： System recovery Search problems Logic Grippers Intelligent robots

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The Development of the Linear Actuator with the Series Elastic System for robot Linkage Mechanisms

The Development of the Linear Actuator with the Series Elast...

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International Conference on Ubiquitous robots (UR)

作者： Gihun Kang Junhee Won Minsung Ahn Jeakweon Han Department of the Interdisciplinary Robot Engineering Systems Hanyang University ERICA Republic of Korea Department of the Mechanical and Aerospace Engineering University of California Los Angeles(UCLA) CA USA Department of the Robotics Hanyang University ERICA Republic of Korea

This paper discusses the development of electric linear actuators to be used in the link structure of robots. Linkage is used in the parallel mechanism of robots, which can solve the disadvantage of serial mechanisms that cannot share the load with other actuators and have low accuracy. In order for linear actuators to be used in robots (especially walking humanoids), high speed is required, unlike conventional linear actuators that focused on high forces. In addition, the linear actuator should be lightweight to reduce the moment of inertia of the robot. This will reduce the required torque of the motor and reduce the power consumption of the robot. Additionally, the linear actuator should measure the external force so that the robot can perform force control. The Series Elastic Actuator(SEA) is one of the actuators capable of measuring external forces by measuring the amount of change in an elastic object. SEA also prevents high forces and high frequencies from being transmitted into the system through springs. However, this has the disadvantage that the force bandwidth is limited when determining the spring constant. In order to adopt only the advantages of SEA, the developed linear actuator solved this disadvantage by measuring an external force with a current of a motor through a low gear ratio. Therefore, at the end of the developed linear actuator is the Series Elastic System, which serves as a physical filtering function. Finally, experiments will verify the functions of this linear actuator and prove that it is optimized for the linkage mechanism of the robot.

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Enhancing AdultSize Humanoid Localization Accuracy: A Vision-based aMCL Leveraging Object Detection Model and Hungarian Algorithm

Enhancing AdultSize Humanoid Localization Accuracy: A Vision...

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IEEE-RAS International Conference on Humanoid robots

作者： Jun Young Kim Min Sung Ahn Jeakweon Han Department of Interdisciplinary Robot Engineering Systems Hanyang University ERICA Ansan Republic of Korea Department of Mechanical and Aerospace Engineering University of California Los Angeles CA USA Department of Robotics Hanyang University ERICA Ansan Republic of Korea

The robot's decision-making is an essential component of the autonomous robot. To fulfill this component, the accurate position estimation of the robot is a fundamental prerequisite. Localization determines the robot's relative position within the map environment, and existing mobile robots have been extensively studied. However, localization is still challenging for humanoids because the bipeds' movement is not as stable as mobile robots, and camera view frames oscillate from side to side. Developing localization with high accuracy under the above-limited constraints is necessary. This paper proposes an estimation of a 1.3m tall humanoid robot's position with an adaptation of vision-based Augmented Monte-Carlo localization (aMCL) in the soccer field. Several approaches were also applied to enhance the localization performance. First, a deep learning-based object detection model was selected to identify predefined landmarks. In addition, the data association process was improved from the nearest neighbor matching algorithm to the Hungarian algorithm. This method enhanced data association performance, and the robot's position was successfully estimated in real-time.

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The development of a general purpose embedded board for driving the mobile robot supporting various communication and various sensors

The development of a general purpose embedded board for driv...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Jisu Kim Minsung Ahn Jeakweon Han The Department of Interdisciplinary Robot Engineering Systems Hanyang University ERICA Ansan Republic of Korea The Department of Mechanical and Aerospace Engineering University of California Los Angeles CA USA Department of Robotics Hanyang University ERICA Ansan Republic of Korea

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Global Asymptotical Stabilization of Morse-Smale systems Using Weak Control-Lyapunov Functions

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SICE Journal of Control, Measurement, and System Integration 2009年第1期2卷 43-49页

作者： Gou Nishida Takayuki Tsuzuki Hisakazu Nakamura Yuh Yamashita RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Center Advanced Science Institute RIKEN Department of Electronic and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Systems and Control Lab. Graduate School of Information Science Nara Institute of Science and Technology Division of Systems Science and Informatics Graduate School of Information Science and Technology Hokkaido University

This paper proposes a method of constructing weak control-Lyapunov functions for nonlinear systems by introducing a topological geometric assumption called a Morse-Smale system. A Lyapunov function is one of the most important tools to study stability and stabilization of nonlinear systems. However, a general way of finding Lyapunov functions has not been found yet. First, we confirm there is a weak Lyapunov function for Morse-Smale systems. Next, we define the escapability for singular structures of the weak Lyapunov function. If all singular structures are escapable, then the Morse-Smale system is a globally asymptotically stabilizable one. Finally, we present the method of constructing a set of weak control-Lyapunov functions to achieve global stabilization. The method is described in terms of a recursive sequence of singular structures. We call the sequence a weak Lyapunov filtration.

关键词： nonlinear systems Lyapunov functions iterative modeling and control design

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Investigating the Usability of Collaborative robot Control Through Hands-Free Operation Using Eye Gaze and Augmented Reality

Investigating the Usability of Collaborative Robot Control T...

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IEEE/RSJ International Conference on Intelligent robots and systems (IROS)

作者： Joosun Lee Taeyhang Lim Wansoo Kim Department of Mechatronics Engineering Hanyang University Ansan Gyeonggi-do Republic of Korea Department of Interdisciplinary Robot Engineering Systems Hanyang University Ansan Gyeonggi-do Republic of Korea Robotics Department Hanyang University ERICA Ansan Gyeonggi-do Republic of Korea

This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control equipment has to be carried by hand. This lack of flexibility may prevent workers from multitasking or carrying objects while operating the robot. To address this limitation, we propose a hands-free method to operate the mobile robot with a human gaze in an Augmented Reality (AR) environment. The proposed work is demonstrated using the HoloLens 2 to control the mobile robot, robotnik Summit-XL, through the eye-gaze in AR. Stable speed control and navigation of the mobile robot were achieved through admittance control which was calculated using the gaze position. The experiment was conducted to compare the usability between the joystick and the proposed operation, and the results were validated through surveys (i.e., SUS, SEQ). The survey results from the participants after the experiments showed that the wearer of the HoloLens accurately operated the mobile robot in a collaborative manner. The results for both the joystick and the HoloLens were marked as easy to use with above-average usability. This suggests that the HoloLens can be used as a replacement for the joystick to allow hands-free robot operation and has the potential to increase the efficiency of human-robot collaboration in situations when hands-free controls are needed.

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The Study on the Energy Efficiency of the Bipedal-Walking Pattern of a Humanoid robot Using Four-Bar-Linkage Toe Joints

The Study on the Energy Efficiency of the Bipedal-Walking Pa...

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International Conference on Ubiquitous robots (UR)

作者： Junghun Choi Yeonghun Chun Injoon Min Min Sung Ahn Jeakweon Han Department of Mechatronics Engineering Hanyang University ERICA Ansan Republic of Korea Department of Interdisciplinary Robot Engineering Systems Hanyang University ERICA Ansan Republic of Korea Department of Mechanical and Aerospace Engineering University of California Los Angeles CA USA Department of Robotics Hanyang University ERICA Ansan Republic of Korea

The purpose of this study is to increase the energy efficiency of a biped-walking humanoid robot. A traditional biped-walking robot walks with its knees bent, which places an unnecessarily large load on the knees. Therefore, in this study, a biped-walking robot with toe joints is developed. This allows it to walk naturally by moving its center of gravity forward, without bending its knees. In addition, as the load acting on the knee joint is reduced, a four-bar linkage mechanism is applied to avoid an excessive load on the toe joint. The toe structure to which the four-bar linkage mechanism is applied distributes the load transmitted to each axis of the toe joint. A 52.2-cm biped-walking robot was developed with the above toes applied. As it walked, the zero-moment point (ZMP) was measured, through forward kinematics and inverse kinematics, and experiments were conducted by applying a walking pattern unlike that of a robot without toes. The maximum step length, maximum speed, ZMP graph, and maximum current were measured. Experiment compared these metrics with those of a flat-footed robot, to demonstrate the efficiency of the robot to which toes were applied. The maxwimum speed and maximum step length were measured to be faster and larger, respectively, than those of a robot without toes, and a smooth ZMP-change graph was confirmed. In addition, the current measurement showed a lower electric charge; thus, proving the energy efficiency of applying the proposed mechanism.

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