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ACM/IEEE International Conference on Human-robot Interaction (HrI)

作者： Wonbum Yun Kiyoung Choi Junyoung Kim Sehoon Oh HyunJoon Chung AI Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

This study proposes a novel approach for low-impedance rendering in robots to ensure safe human-robot interaction. Low-impedance control enhances safety by enabling robots to respond flexibly to physical contact with humans. However, real-world disturbances such as friction often necessitate high impedance, creating a trade-off between safety and task precision. To address this challenge, a modified disturbance observer (dOB)-based control framework is introduced, designed to prevent external contact forces from being treated as disturbances. Experimental results demonstrate significant improvements in impedance rendering performance under various conditions, ensuring precise and safe robot operations in dynamic shared environments.

关键词： robust control Friction Human-robot interaction rendering (computer graphics) disturbance observers Safety recycling Impedance reliability robots

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Operational Space Fomulation of Time delay Control for Underwater Vehicles and its Extension to diver Guidance

Operational Space Fomulation of Time Delay Control for Under...

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International Symposium on Underwater Technology

作者： Gun rae Cho Hyungjoo Kang Min-Gyu Kim Sungho Park Hansol Jin Seongho Jin Autonomous Systems R&D Division Korea Institute of Robotics and Techonology Convergence Pohang Republic of Korea

ISBN: (数字)9798331534189

ISBN: (纸本)9798331534196

In this study, we propose a method for designing a robust controller for underwater vehicles when the control input space and workspace differ. To achieve this, we formulate the Time delay Control (TdC) in operational space, which is efficient yet has a simple structure. The proposed controller maintains the robustness against disturbances and structural simplicity inherent in the conventional TdC while effectively addressing the situation where the workspace differs from the control input space. Additionally, we propose a method for applying the proposed controller to the task of guiding divers to their destinations using underwater vehicles. Underwater environments often have limited visibility due to issues such as turbidity, so we design the controller and reference trajectories based on the diver's field of view. Through simulations, we demonstrate that the proposed control method effectively operates in various workspaces, including world-coordinate-based workspaces and diver's field of view-based workspaces.

关键词： Space vehicles delay effects Turbidity Aerospace electronics Stability analysis robustness Trajectory Underwater technology Underwater vehicles Standards

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Whole-Body Balancing and differential driving Control using a relative Vector-Based LQr to Address Non-Holonomy of a Wheel-Legged robot

Whole-Body Balancing and Differential Driving Control using ...

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International Conference on Ubiquitous robots (Ur)

作者： Joonhee Jo Jaewoo An Yisoo Lee Yonghwan Oh Articulated Robotics Team R&D Division hyundai motor company Gyungi-do Korea Center for Intelligent & Interactive Robotics Korea Institute of Science and Technology (KIST) Seoul Korea

In this paper, we present a novel approach for controlling the balance of a wheeled bipedal robot (WBr) by utilizing the robot's dynamics and constraints. Our method is based on a hierarchical optimization framework, where we first use a relative vector-based linear quadratic regulator (LQr) to overcome the non-holonomic nature of the wheeled robot system and synthesize sagittal and lateral motion for a given reference trajectory. To validate the effectiveness of our proposed method, we conduct several simulations and the results demonstrate that it achieves superior performance.

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Tracking Error Based Fault Tolerant Scheme for Marine Vehicles with Thruster redundancy

Tracking Error Based Fault Tolerant Scheme for Marine Vehicl...

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International Symposium on Underwater Technology

作者： Ji-Hong Li Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Han-Sol Jin Gun rae Cho Autonomous Systems R&D Division KIRO Korea Institute of Robotics and Technology Convergence Pohang Republic of Korea

ISBN: (数字)9798331534189

ISBN: (纸本)9798331534196

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized to generate residual, in this paper we directly apply the trajectory tracking error terms to construct residual and detect thruster fault and failure in the steady state of the tracking system. As for identification or diagnosis, this paper proposes a novel scheme through a detailed examination of the tracking error trends and the combinations of thruster configurations. Since this fault detection and identification operates within the same closed-loop of the tracking control system, control reconfiguration can be easily achieved by adjusting the weight parameter of the isolated thruster to minimize tracking errors or residual. Numerical studies with the real world vehicle model is also carried out to verify the effectiveness of the proposed method.

关键词： Underwater cables Attitude control redundancy Fault tolerant systems Fault location Market research Control systems Numerical models Underwater technology Underwater vehicles

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Optimal Placement of Foot Pressure Sensors for Lower-Limb Exoskeletons Based on Multi-Objective Particle Swarm Optimization Algorithm

Optimal Placement of Foot Pressure Sensors for Lower-Limb Ex...

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International Conference on Artificial Intelligence in Information and Communication (ICAIIC)

作者： Ha-Yoon Song Hyun-Joon Chung Kwang-Woo Jeon Tae-Hwan Kim Junyoung Kim Jin-Yeol Yoo Jae-Kwan ryu AI Robotics R&D Division Korea Institute of Robotics & Technology Convergence Seoul Republic of Korea Unmanned/Intelligent Robotic Systems R&D LIG Nex1 Seongnam Republic of Korea

This study proposes an optimization method for sensor placement in lower-limb exoskeleton robots, aiming to improve the accuracy of the Center of Pressure (CoP) estimation during various human activities. Utilizing the Multi-Objective Particle Swarm Optimization (MOPSO) algorithm, the proposed method identifies an optimal sensor count, as the root Mean Square Error (rMSE) decelerates when the sensor count exceeds 6. Application of this method resulted in a reduction of the Mean Absolute Error (MAE) to 4.13 mm and 8.92 mm on the mediolateral and anteroposterior axes respectively, a 22.8% improvement in CoP estimation accuracy compared to traditional anatomical methods. Further analysis revealed that weight parameters influence the CoP estimation accuracy, suggesting an enhancement in sensor placement efficiency through the adjustment of individual objectives' significance. The proposed sensor placement optimization method is expected to significantly enhance the performance of lower-limb exoskeleton robots and increase user satisfaction. Moreover, it could substantially contribute to the enhancement of human-computer interaction in robot control by providing a more accurate reflection of the user's intentions. These findings highlight the importance of continuing research in the field of lower-limb exoskeleton robots.

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OGM Based real-time Obstacle detection and Avoidance using Multibeam FLS

OGM Based Real-time Obstacle Detection and Avoidance using M...

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Mechatronics, Control and robotics (ICMCr), International Conference on

作者： Han-Sol Jin Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Seongho Jin Gun rae Cho Ji-Hong Li Autonomous Systems R&D Division Korea Institute of Robotics & Technology Convergence Pohang Republic of Korea

This paper presents an obstacle detection and avoidance algorithm based on OGM (occupancy grid map) method and its experimental studies. At each time step (5Hz), given the current frame of FLS (forward looking sonar) image, each of its cloud point is transformed into the reference frame and upgrade the density of the grid where the point is located. during this upgrade, weights were applied to both the current density of the grid and the cloud point intensity. With this OGM, each grid whose density surpass certain threshold is taken as obstacle and counted in the path planning using general potential field method. A series of experimental studies have been carried out in the sea port environment, whereas we can investigate and analysis the effects of the design parameters in both of OGM construction and obstacle avoidance algorithms. This paper shows some of these preliminary results.

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research of Battery Pack and Bolt recognition for Battery Pack disassembly Automation System

Research of Battery Pack and Bolt Recognition for Battery Pa...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Na-Hyun Lee Sung-Jo Yun HyoGon Kim JeongWoo Park Jongdeuk Lee Smart Mobility R&D Division Korea Institute of Robotics & Technology Convergence (KIRO) Pohang Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In this paper, we describe research on the battery pack disassembly automation system necessary for recycling waste batteries generated due to the increase in electric vehicles. In particular, it describes the recognition process among the steps required to remove the cover of the battery pack during the automated disassembly process. The recognition process includes recognizing the battery pack through a global camera and recognizing the bolt through a local camera attached to each manipulator. In other words, the approximate location information of the bolt is obtained through the battery pack recognition process, and the exact location of the bolt is obtained using the manipulator's local camera to release the bolt. In the battery pack recognition process, the position and posture of the battery pack were estimated by matching point cloud data through the ICP(Iterative Closet Point) algorithm. The bolt recognition process was learned using the yolo v5 model, and the recognition rate was increased by classifying and tagging misrecognized objects into different classes.

关键词： Point cloud compression Automation Fasteners Tagging Cameras Manipulators Electric vehicles Control systems Batteries recycling

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A Lagrangian Approach for Trajectory Tracking of Underactuated Marine Vessels ⁎

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IFAC-PapersOnLine 2024年第6期58卷 196-201页

作者： J.H. Li H. Kang M.G. Kim M.J. Lee H.S. Jin G.r. Cho Autonomous Systems R&D Division Korea Institute of Robotics and Technology Convergence Gigok-Ro 39 Nam-Gu Pohang 37666 Korea

This paper attempts to explore the trajectory tracking problem for underactuated marine vessels from a Lagrangian perspective. First, we derive the vessel’s dynamics from Euler-Lagrangian equations and its kinematics from the mechanical constraint, both in the polar frame. The benefit of using polar frame is that we can transform the two-input-three-output underactauted system into a two-input-two-output form such that it becomes easy for us to solve the control problem using general backstepping method. In this paper, the main focus is taken on that how to improve the control performance by fully utilizing the features of the vessel’s nonlinear dynamics from the Lagrangian perspective. Some numerical studies are also carried out to investigate and analyse the effectiveness of the proposed scheme.

关键词： Marine vessels underactuated systems Euler-Lagrangian trajectory tracking

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design and Experiments of Multi-modal sensor and Battery Housing for Antarctica mobile robot

Design and Experiments of Multi-modal sensor and Battery Hou...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Kyoungseok Noh Taeyoung Uhm Jiwook Kwon Nahyun Lee Jeonghwan Hwang Youngho Choi Smart Mobility R&D Division Korea Institute of Robotics & Technology Convergence (KIRO) Pohang Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In this paper, we describe a study on the housing methods of mobile robot systems capable of operating in extreme environments such as Antarctica. Unlike typical robots, those deployed in Antarctica must have various capabilities including operation in extremely low temperatures, waterproofing, insulation, and corrosion resistance. This paper explains the research conducted to protect multi-modal sensors for environmental perception and battery systems for power supply in mobile robot systems. The proposed system's housing is equipped with a Temperature Control Unit (TCU) to maintain operating temperature in cold environments. To ensure operation in extremely low temperatures, the housing maintains airtight using seals for insulation and waterproofing. The multi-modal sensors are fabricated using stereolithography (SLA), allowing for flexible design and fabrication to accommodate various sensor shapes, and protective lenses are applied to the openings for camera sensing. Finally, the proposed multi-modal sensor structure was tested in a chamber at -50 degrees Celsius to verify its performance.

关键词： Temperature sensors Insulation Shape Multimodal sensors Seals Antarctica Temperature control Batteries Stereolithography Mobile robots

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Low Impedance rendering Toward Safe Human-robot Interaction 20

Low Impedance Rendering Toward Safe Human-Robot Interaction

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20th Annual ACM/IEEE International Conference on Human-robot Interaction, HrI 2025

作者： Yun, Wonbum Choi, Kiyoung Kim, Junyoung Oh, Sehoon Chung, HyunJoon Korea Institute of Robot and Convergence Ai Robotics R&d Division Pohang Korea Republic of Dgist Daegu Korea Republic of

ISBN: (纸本)9798350378931

关键词： Human robot interaction

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