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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Electronic Engineering Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots control systems Motion control Wheels Motion planning Navigation Discrete event systems Robot control Indoor environments Collision avoidance

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Integration of schema-based behaviors and variable-resolution cognitive maps for stable indoor navigation

Integration of schema-based behaviors and variable-resolutio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hye-Kyung Cho Young-Jo Cho Bum-Jae You School of Information & Computer Engineering Hansung University Seoul South Korea R & D Center I Controls Inc. Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780365763

Presents a situation-driven reconfigurable architecture for a schema-based robot controller which is operating in partially known indoor environments. Instead of the purely repulsive forces from the obstacles, we employ the linear combination of the repulsive and the detouring forces around the obstacle, so that the obstacles generate virtual forces pushing the robot toward the goal rather than just blocking it. By reconfiguring the detouring direction and the activation level of each schema based on the geometric and/or topological information provided by the variable resolution maps, the robot can navigate through the environments in very natural way. Simulation results show that our approach can remarkably improve the intrinsic defects of traditional potential field-bused schemas.

关键词： Navigation control systems Robot control Optimal control intelligent systems intelligent control intelligent robots Robust control State estimation Design methodology

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An improved ZVS partial series resonant DC/DC converter with low conduction losses

An improved ZVS partial series resonant DC/DC converter with...

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作者： Lee, Dong-Yun Kim, Eui-Sung Hyun, Dong-Seok Choy, Ick Dept. of Electrical Engineering Hanyang University 17 Haengdang-dong Seongdong-ku Seoul133-791 Korea Republic of Intelligent System Control Research Center Korea Institute Science and Technology Korea Republic of

This paper presents an improved ZVS partial series resonant DC/DC converter (PSRC) with low conduction losses, suitable for high power and high frequency application. The proposed PSRC has advantages of zero-voltage-switching (ZVS) of the main switches for entire load ranges and low conduction losses of the main switches by decreasing current stresses. Also, reduction of the effective duty cycle does not occur during resonant period of the main circuit because the auxiliary circuit of the proposed converter is placed out of the main power path. The auxiliary network is only composed of passive components including the auxiliary inductor, auxiliary capacitors, auxiliary diodes and saturable inductor. Therefore, an improved ZVS PSRC has improved characteristics with respect to the overall system efficiency. The operation principles of the proposed converter are explained in detail and the validity of the proposed converter is verified by several interesting simulated and experimental results. © 2000 IEEE.

关键词： Zero voltage switching

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Real-time visual tracking insensitive to three-dimensional rotation of objects 1st

引用

1st IEEE International Workshop on Biologically Motivated Computer Vision, BMCV 2000

作者： Cho, Young-Joo You, Bum-Jae Lim, Joonhong Oh, Sang-Rok Intelligent System Control Research Center Korea Institute of Sci and Tech P.O. Box 131 Cheongryang Seoul130-650 Korea Republic of School of Electrical Engineering and Computer Science Hanyang University Sa-1 dong 1271 Ansan Kyungki-do425-791 Korea Republic of

ISBN: (纸本)3540675604

Visual tracking is essential for many applications such as vision-based control of intelligent robots, surveillance, agriculture automation, medical image processing, and so on. Especially, a fast and reliable visual tracking is important since the performance of visual tracking determines the reliability and real-time characteristics of overall system. It is not easy in visual tracking, however, to estimate the configuration of a target object in real-time when the three-dimensional pose of the target object is changing. On the contrary, a human being is able to track an object without the estimation of three-dimensional pose of the object even though three-dimensional rotations and /or occlusion by other objects change the original image of the object. This paper proposes a fast and reliable SSD-based visual tracker insensitive to three-dimensional rotation of an object as well as translation, two-dimensional rotation, scaling, and shear of an object by proposing a performance measure for distortion of current image with respect to an original reference image. The performance measure is a combination of aspect ratio of a rectangle, variations of four internal angles of the rectangle from ninety degrees, the direction of rotation and the angular velocity of the rectangle. So, the reference image for visual tracking is updated whenever the performance measure is greater than an initialized distortion rate without the estimation of three-dimensional pose of an object. The algorithm is experimented in real-time successfully at a personal computer adopted with a general-purpose frame grabber. © Springer-Verlag Berlin Heidelberg 2000.

关键词： intelligent robots

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An improved ZVS partial series resonant DC/DC converter with low conduction losses

An improved ZVS partial series resonant DC/DC converter with...

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Annual Conference of Industrial Electronics Society

作者： Dong-Yun Lee Eui-Sung Kim Dong-Seok Hyun Ick Choy Department of Electrical Engineering Hanyang University Seoul South Korea Intelligent system Control research Center Korea Institute of Science and Technology South Korea

关键词： Zero voltage switching Resonance DC-DC power converters Switches RLC circuits Inductors Frequency conversion Stress Capacitors Diodes

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Stiffness analysis for effective peg-in/out-hole tasks using multi-fingered robot hands

Stiffness analysis for effective peg-in/out-hole tasks using...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： Byoung-Ho Kim Byung-Ju Yi Il Hong Suh Sang-Rok Oh School of Electrical Engineering Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center KIST Seoul South Korea

This paper deals with stiffness analysis for effective peg-in/out-hole tasks using multifingered robot hand without inter-finger coupling. We first observe the fact that some coupling stiffness elements cannot be planned arbitrary. Then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in/out-hole tasks. It is concluded that the location of compliance center on the peg and the coupling stiffness element between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. Simulation results are included to verify the feasibility of the analytic results.

关键词： Robot sensing systems Force sensors intelligent robots Orbital robotics Transmission line matrix methods Signal processing Fingers Computer science intelligent systems intelligent control

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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Analysis of compliance characteristic for effective multi-fingered robotic peg-in-hole task

Analysis of compliance characteristic for effective multi-fi...

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Annual Conference of Industrial Electronics Society

作者： Byoung-Ho Kim Sang-Rok Oh Byung-Ju Yi Il Hong Suh Wan Kyun Chung School of Electrical Engineering and computer Science Hanyang University Seoul South Korea Intelligent System control Research Center KIST Seoul South Korea School of Mechanical Engineering POSTECH Pohang South Korea

This paper deals with an analysis of the compliance characteristics for an effective peg-in-hole task using a robot hand without inter-finger coupling. We first classify the task of inserting peg-in-a-hole into three contact styles between the peg and the hole. Next, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in-hole task for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness elements between the translational and rotational directions play important roles for a successful peg-in-hole task. Simulation results are included to verify the feasibility of the analytic results.

关键词： Fingers intelligent robots Robot sensing systems Force sensors control systems Orbital robotics Signal analysis Motion control Signal processing Computer science

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A biomimetic compliance control of robot hand by considering structures of human finger

A biomimetic compliance control of robot hand by considering...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Byoung-Ho Kim Byung-Ju Yi Il Hong Suh Sang-Rok Oh Yeh-Sun Hong School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center KIST Seoul South Korea Advanced Robotics Research Center KIST Seoul South Korea

For an object grasped by a robot hand to work in the compliance control domain, we first analyze a necessary condition for successful stiffness modulation in the operational space. Next, we propose a compliance control method for robot hands which consist of two steps: the RIFDS (resolved inter-finger decoupling solver) decomposes the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without inter-finger coupling; and the RIJDS (resolved inter-joint decoupling solver) decomposes the compliance characteristic in the fingertip space into the compliance characteristic in the joint space without inter-joint coupling. According to the analysis results, the finger structure should be biomimetic in the sense that either kinematic redundancy or force redundancy are required to implement the proposed compliance control scheme. Five-bar fingered robot hands are treated as illustrative examples to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method, simulations are performed for two-fingered and three-fingered robot hands.

关键词： Biomimetics Robot control Humans Fingers Robot kinematics Orbital robotics Force control Manipulator dynamics intelligent robots Robot sensing systems

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Disturbance observer-based robust control for underwater robotic systems with passive joints

Disturbance observer-based robust control for underwater rob...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： G.B. Chung K.S. Eom B.-J. Yi I.H. Suh S.-R. Oh Y.J. Cho Sch. of Electr. Eng. & Comput. Sci. Hanyang Univ. Seoul South Korea School of Electrical Engineering and Computer Science Hanyang University Intelligent System Control Research Center KIST Seoul South Korea

Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings between active and passive joints. Furthermore, the control problem becomes complex since there should be considered many hydrodynamic terms as well as intrinsic model uncertainties. To cope with these difficulties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints. The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in which passive joints are eliminated. Also, to realize a robust control method, a nonlinear feedback disturbance observer is applied to each active joint. A four-jointed underwater robotic system with one passive joint is considered as an illustrative example. Through simulation, it is shown that the proposed control algorithm has good position tracking performances even in the presence of several external disturbances and model uncertainties.

关键词： Robust control Mobile robots Underwater vehicles Manipulator dynamics Uncertainty Vehicle dynamics Hydrodynamics control systems Feedback Underwater tracking

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