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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Kim, Jin Tak Cho, Jung San Park, Byung-Yun Park, Sangdeok Lee, Youngsoo Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-3-dong Sangrok-gu Ansan Kyunggi 426-791 Korea Republic of

ISBN: (纸本)9781479911738

Hydraulic actuation has the advantage of substantial power and wide range of speed with a small size and low weight. Because of this advantage, hydraulic actuation is used often for a robot dealing with heavy-weight material or walking fast. However, in a walking robot, the power of hydraulic actuator can act as the ground reaction forces between the feet and the ground surface, breaking the balance of the body. Therefore, compact design of a body including the feet and module design for absorption of the ground reaction forces is critical. This paper explains leg design for compact design of hydraulic actuated quadruped robot. Also, this paper describes about a shock absorber design included in the feet module by walking-in-place experiments. © 2013 IEEE.

关键词： Multipurpose robots

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Development of P-SURO II Hybrid Autonomous Underwater Vehicle and its Experimental Studies

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Journal of Institute of Control, robotics and Systems 2013年第9期19卷 813-821页

作者： Li, Ji-Hong Lee, Mun-Jik Park, Sang-Heon Kim, Jung-Tae Kim, Jong-Geol Suh, Jin-Ho Applied Technology Division Korea Institute of Robot and Convergence Korea Republic of

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms. © ICROS 2013.

关键词： Hybrid systems

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Dynamic control of parallel manipulator

Dynamic control of parallel manipulator

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1st International Conference on robot Intelligence technology and Applications, RiTA 2012

作者： Seo, Kap-Ho Park, Yongsik Yun, Sungjo Park, Sungho Jun, Jungsoo Min, Jeongtack Applied Technology Division Korea Institute of Robot and Convergence San 31 Hyoja-dong Nam-gu Pohang Gyeongbuk 790-784 Korea Republic of

ISBN: (纸本)9783642373732

Parallel manipulator with longer legs and heavy load is applied in most of the current high fidelity simulators, which is used to simulate various motions in different environments by exporting varying displacement and orientation. A novel model-based controller for 6-DOF parallel manipulator with gravity compensation is developed, in order to improve the control precision of 6-DOF parallel manipulator with high speed and heavy load. The effectiveness of the proposed algorithm will be discussed based on experiments. © 2013 Springer-Verlag.

关键词： Manipulators

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Development of P-SURO II Hybrid AUV and its Experimental Study

Development of P-SURO II Hybrid AUV and its Experimental Stu...

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Oceans 2013 - Norway

作者： J. H. Li M. J. Lee S. H. Park J. G. Kim J. T. Kim J. H. Suh Applied Technology Division Korea Institute of Robot and Convergence

ISBN: (纸本)9781479900022

P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes. The AUV mode is supposed to carry out some of underwater missions which are difficult to be accomplished by ROV mode due to its tether cable. To complete the underwater missions such as inspection and maintenance of complex structures in AUV mode, the vehicle is required to have high level of autonomy including obstacle avoidance, autonomous navigation, and so on. In this paper, we will discuss some of systematic and algorithmic issues in the development of such kind hybrid vehicles. Experimental studies on the development of underwater hybrid inertial navigation system and SLAM (simultaneous localization and mapping) method in a certain water tank environment are also discussed.

关键词： Hybrid AUV SLAM Underwater localization Obstacle avoidance Path planning

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Gait pattern generation for gait rehabilitation

Gait pattern generation for gait rehabilitation

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Kap-Ho Seo Yongsik Park Sungjo Yun Sungho Park Jungsoo Jun Kwang-Woo Jeon Applied Technology Division Korea Institute of Robot and Convergence Pohang Gyeongbuk Korea

robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients practice and memorize normal gait patterns by applying assistive torque to the patient's joint once the patient's gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient's joint during rehabilitation training. In order to calculate the assistive torque, the desired gait trajectory for affected leg should be determined. This reference trajectory is obtained from his healthy leg. The obtained signal has many noisy factors. Therefore, after conditioning the signal, the suitable pattern is applied to the developed system. This procedure is called “gait pattern generation” in this paper. It is described and discussed in detail.

关键词： Knee Legged locomotion Joints Torque Training Trajectory

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Tactile display device for visually impaired persons

Tactile display device for visually impaired persons

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Kap-Ho Seo Yongsik Park Sungjo Yun Sungho Park Jungsoo Jun Kwang-Woo Jeon Applied Technology Division Korea Institute of Robot and Convergence Pohang Gyeongbuk Korea

Tactile display device that can present tactile information for visually impaired persons has been developed. Users can get certain information by pressure from the pins raised at varying heights on arms. The effectiv... 详细信息

关键词： Visualization Force Skin Manifolds Mathematical model Equations Shape

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3D current effect simulation for an underwater vehicle and obstacles

3D current effect simulation for an underwater vehicle and o...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jung-Tae Kim Ji-Hong Li Mun-Jik Lee Jong-Geol Kim Jin-Ho Suh Applied Technology Division Pohang Korea Institute of Robot and Convergence Gyung-Buk Korea

In this paper, we describe the research progress about the path planning for AUVs in underwater space. Considering the importance of water current for underwater movement, we modeled a pillar of a sea wide-bridge and ... 详细信息

关键词： Computational fluid dynamics Bridges Path planning Three-dimensional displays Solid modeling Underwater vehicles robots

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Sonar aided high accuracy inertial navigation in a partially known environment

Sonar aided high accuracy inertial navigation in a partially...

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OCEANS

作者： J. H. Li M. J. Lee J. T. Kim S. H. Park J. G. Kim J. H. Suh Applied Technology Division Korea Institute of Robot & Convergence (KIRO) Pohang South Korea

ISBN: (纸本)9781479913084

P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes [1]. In its AUV mode, the vehicle is supposed to carry out some of underwater missions such as inspection and maintenance of complex underwater structures which are usually difficult to be done by ROV or divers due to the cable system. To complete these missions, the vehicle is required to have high level of autonomy, where high accuracy navigation is the most important and basic requirement. In this paper, we present a high accuracy of hybrid inertial navigation method using image sonar in a water tank environment. Various water tank experimental studies are carried out to investigate the effectiveness of presented hybrid navigation method. Some of practical issues of applying image sonar for inertial navigation aiding are also discussed.

关键词： Sonar navigation Sonar measurements Storage tanks Vehicles Sensors Inertial navigation

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Calculation of optimal magnetic force for automatic control magnetic force of the window cleaning robot

Calculation of optimal magnetic force for automatic control ...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jaeyoul Lee Youngho Choi Jongdeuk Lee Applied Technology division Korea Institute of Robot and Convergence Pohang 790-784 Korea

This paper describes the window cleaning robot named Smart Windoro, which is a fully autonomous intelligent window cleaning robot. Smart Windoro adheres to the surface of window glass by means of permanent magnet pairs between a driving module (inner unit) and a cleaning module (outer units) rather than using vacuum suckers for the energy efficiency and safety. A driving module of Smart Windoro has automatic magnetic force control mechanism. In addition to this, the driving module has mechanism for automatic magnetic force according to the thickness of window glass. This study describes the simulation to predict the magnetic and mechanical characteristic which is maximize the friction on the surface of window with the minimum magnetic attractive force.

关键词： Magnetic forces robots Magnetic analysis Cleaning Magnetomechanical effects Windows Permanent magnets

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Inverse kinematics for control of JINPOONG

Inverse kinematics for control of JINPOONG

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jin Tak Kim Jung San Cho Byung Yun Park Sangdeok Park Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea

JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG. Therefore, this paper explains the calculation method of the inverse kinematics for the motion control of JINPOONG. The performance of the calculation method was demonstrated in simulation using MATLAB.

关键词： Joints Kinematics Legged locomotion Trajectory Closed-form solutions

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