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作者： Loc, Vo-Gia Koo, Ig Mo Trong, Tran Duc Kim, Ho Moon Moon, Hyungpil Park, Sangdoek Choi, Hyouk Ryeol School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9781424474530

In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of the robot can be significantly improved by carefully considering the position and orientation of the robot's body in each step. The effectiveness of the proposed algorithm is verified in both simulation and experiment. ©ICROS.

关键词： Landforms

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Natural changing of emotional expression by considering correlation of behavior history

Natural changing of emotional expression by considering corr...

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IEEE International Symposium on Consumer Electronics

作者： Ahn, Ho Seok Choi, Jin Young Lee, Dong-Wook Shon, Woong Hee Department of Applied Robot Technology Convergent Technology R and D Division Korea Institute of Industrial Technology 1271-18 Sa-3-dong Sangrok-gu Ansan 426-910 Korea Republic of

ISBN: (纸本)9781612848433

This paper presents a novel method for natural changing of emotional expression. Although formal behavior generation method using the simulated annealing algorithm selects various behaviors, there are weak correlations among behavior history. To make strong correlations, we restrict the randomness of the simulated annealing algorithm. This method sifts unapt candidate behavior combinations out by considering the previous behavior combinations and makes adequate range of candidate behavior combinations. We have verified the continuity of the proposed method using a cyber robot simulator. © 2011 IEEE.

关键词： Simulated annealing

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Development of a Real Time Locating System Using PSD under Indoor Environments

Development of a Real Time Locating System Using PSD under I...

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SICE Annual Conference

作者： Jae-han Park Dae-hee Won Ki-young Park Seung-ho Baeg Moon-hong Baeg Division for Applied Robot Technology KITECH Ansan Korea

This paper considers a new positioning sensor using position sensitive detector (PSD) under indoor environments. The system consists of PSD module which is attached on the ceiling and infrared (IR) projector modules attached on the interested object, and all modules are connected by wireless communication. In this system, the PSD module detects and determines location of the IR projector module with its light source, and the IR projector module receives its own location information from the PSD module. In particular, the developed system is implemented on the embedded system and it is small, simple, inexpensive and robust localization system. We applied this system to mobile robot navigation on indoor environment, and the experimental results shows the effectiveness of this system

关键词： Real time systems Indoor environments Position sensitive particle detectors Optical fiber communication Wireless communication Infrared detectors Light sources Embedded system Robustness Mobile robots

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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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The Integrated Autonomous Underwater Navigation System based on Open Platform for robotic Services

The Integrated Autonomous Underwater Navigation System based...

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2015 International Conference on Modeling, Simulation and applied Mathematics（MSAM 2015）

作者： Youngho Choi Jungwoo Lee Jinho Suh Jongdeuk Lee Korea Institute of Robot and Convergence Applied Technology Division

ISBN: (纸本)9781510811980

This paper introduces how to easily integrate the modular navigation system for the autonomous underwater vehicle(AUV),which consists of the various hardware and software *** paper is focused on how to build the integrated underwater navigation module which is applicable to various types of underwater vehicle rather than the core algorithm for the autonomous underwater *** autonomous underwater navigation system consists of many software,hardware components and the systematic integration of these components is very important to build up the efficient navigation system within the given *** order to achieve this goal,we introduce the systematic integration manner developing the modular autonomous underwater navigation system based on Open Platform for robotic Service(OPRoS)[1].

关键词： autonomous underwater navigation modular OPRo S

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6DOF pose estimation using 2D-3D sensor fusion

6DOF pose estimation using 2D-3D sensor fusion

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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Shin, Yong-Deuk Park, Jae-Han Baeg, Moon-Hong Applied Robot Technology Division KITECH 1271-18 Sa 3-dong Sangrok-gu Ansan-si Gyenggi-do 426-910 Korea Republic of

ISBN: (纸本)9781467304283

Object pose estimation is a fundamental problem for a robot when manipulating an object. In this paper, we propose a method for estimating the pose of an object using a 2D image and a 3D point cloud. The Speeded Up Robust Feature (SURF) descriptors between the model image and input image were used to match the keypoints. The pose of an object was estimated using the 3D points corresponding to these matches. To produce more accurate results, the outliers were removed from these matches using Random Sample Consensus (RANSAC) and the result was refined using the Iterative Closest Point (ICP) algorithm. The experimental result demonstrated the high efficiency of our method. © 2012 IEEE.

关键词： Iterative methods

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An Intelligent Navigation Method for Service robots in the Smart Environment

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IFAC Proceedings Volumes 2008年第2期41卷 1691-1696页

作者： Jae-Han Park Seung-Ho Baeg Ho-Sun Ryu Moon-Hong Baeg Division for Applied Robot Technology KITECH Ansan Korea Ansan Korea (Tel:82-31-400-6273 Division for Applied Robot Technology KITECH Ansan Korea Ansan Korea (Tel:82-31-400-6272 LG Electronics Division for Applied Robot Technology KITECH Ansan Korea Ansan Korea (Tel:82-31-400-6271

Autonomous navigation is one of primitive functionalities which service robots should have; nevertheless, the navigation problem for a service robot still has many difficulties because the real environment where service robots should works is so complex and dynamical. This paper proposes a framework of intelligent navigation for service robots based on a semantic map of the smart environment. In the smart environment, the robot can receive his position information from location sensors by sensor networks, and it can eliminate the accumulated localization errors. So the robot can accomplish confidential localization in the dynamic and complex environment. With the topological information in the semantic map, path planning problem can be simple even in the wide and complex spaces, and topological path from semantic map can be divided into several sub goals. Robust navigation can be accomplished by moving towards these sub goals with reactive navigation algorithm which has robust characteristics in the dynamic environments. Our approaches have ascertained the good performance on the localization and the navigation, and the feasibility of these methods could be confirmed with the result of experiments in the real environment.

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An Intelligent Navigation Method for Service robots in the Smart Environment

An Intelligent Navigation Method for Service Robots in the S...

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2007 International Conference on Control, Automation and Systems (ICCAS 2007), vol.5

作者： Jae-Han Park Seung-Ho Baeg Moon-Hong Baeg Division for Applied Robot Technology KITECH Ansan South Korea

Autonomous navigation is one of primitive functionalities which service robots should have;nevertheless, the navigation problem for a service robot still has many difficulties because the real environment where service robots should works is so complex and dynamical. This paper proposes a framework of intelligent navigation for service robots based on a semantic map of the smart environment. In the smart environment, the robot can receive his position information from location sensors by sensor networks, and it can eliminate the accumulated localization errors. So the robot can accomplish confidential localization in the dynamic and complex environment. With the topological information in the semantic map, path planning problem can be simple even in the wide and complex spaces, and topological path from semantic map can be divided into several sub goals. Robust navigation can be accomplished by moving towards these sub goals with reactive navigation algorithm which has robust characteristics in the dynamic environments. Our approaches have ascertained the good performance on the localization and the navigation, and the feasibility of these methods could be confirmed with the result of experiments in the real environment.

关键词： Navigation Mobile robot Semantic Map Smart Environment

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Guidance and Control of P-SURO II Hybrid AUV

Guidance and Control of P-SURO II Hybrid AUV

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OCEANS MTS/IEEE Yeosu

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

ISBN: (纸本)9781457720895

P-SURO II AUV is a hybrid vehicle which has been developing in KIRO since June in last year. In this paper, we propose a doppler velocity log (DVL) aiding inertial navigation system for this hybrid AUV. So far, DVL has been one of most common aiding device for underwater strap down inertial navigation system (SDINS) [1]. However, in practice, DVL may briefly dropout due to noise, uneven surfaces, and loss of lock when too close to a surface [2]. This kind of DVL dropout effect on the proposed INS is investigated through post-processing of navigation sensor raw measurement data acquired in the field test in a river. On the other hand, four vectored thrusters are mounted on the vehicle's horizontal plane, and their thrust vector control (TVC) problem is also discussed in the paper.

关键词： Hybrid AUV Guidance and control Strap down inertial navigation system (SDINS) DVL-aiding Thrust vector control (TVC)

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Foot Trajectory Generation of Hydraulic Quadruped robots on Uneven Terrain

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IFAC Proceedings Volumes 2008年第2期41卷 3021-3026页

作者： HyoungKwon Kim Daehee Won Ohung Kwon Tae-Ju Kim Sang-Seok Kim Sangdeok Park Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea (Tel:+82-31-8040-6293

This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to operate outdoors with the static and dynamic mobility. The efficiency and performance of the proposed are verified through the computer simulation and experiments using qRT-1/-2. In experiments, qRT which is a 2-legged and 2-wheeled robot and a front drive system vehicle with hydraulic linear actuators is used. The robot has trotted gaits at speeds up to 1.3 m/s on the even surface, walked up and down the 20 degree inclines, and walked at 0.7 m/s on the uneven surface. Also it has carried over 100 kg of the total weights including over 40 kg of the payload.

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