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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun Jun Na Yungeun Choe Myung Jin Chung Department of Electrical Engineering KAIST Daejeon Korea Robotics Program KAIST Daejeon Korea

Researches about semantic terrain mapping using data acquired from range sensors have been widely studied. And this semantic map can be used for navigation, exploration and path planning. Among the various information `traversability' is important before everything. Because only if traversability information is provided in advance, various high-level robot's tasks are possible. The proposed efficient 3d terrain mapping method use NDT grid. And by using NDT grid's covariance matrix, we define traversability using three different factors `slope', `flatness', `reliability'. Experimental results show by our proposed method traversability can be analyzed efficiently, and accurately.

关键词： Reliability Robots

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A novel steering sections of hybrid rotary steerable system for directional drilling

A novel steering sections of hybrid rotary steerable system ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jongheon Kim Byeolteo Park Jae-Uk Shin Sungwook Jung Hyun Myung Dept. of Civil and Environmental Engineering KAIST Daejeon Korea Robotics Program KAIST Daejeon Korea

ISBN: (纸本)9781479960514

As the conventional resource drains, the importance of unconventional resource grows. A directional drilling system and a hydraulic fracturing method are required to gain unconventional resources. Nowadays, the key technology of the directional drilling is a rotary steerable system (RSS). Among several types of the RSS developed so far, `point-the-bit' and `push-the-bit' are the most commonly used ones. In this paper, we introduce several conventional directional drilling methods and propose a new hybrid-type rotary steerable system. This mechanism improves the steering angle by taking advantages of both `point-the-bit' and `push-the-bit' types. Its control should be synchronized all 360° for BHA(Bottom Hall Assembly) heading due to the hybrid mechanism.

关键词： Lead Torque Actuators Force Service robots

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Extrinsic calibration of 2D laser sensors

Extrinsic calibration of 2D laser sensors

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dong-Geol Choi Yunsu Bok Jun-Sik Kim In So Kweon Robotics Program KAIST Daejeon Korea Division of Future Vehicle KAIST Daejeon Korea Interaction and Robotics Research Center Korea Institute of Science and Technology Seoul Korea

This paper describes a new methodology for estimating a relative pose of two 2D laser sensors. Two dimensional laser scan points do not have enough feature information for motion tracking. For this reason, additional image sensors or artificial landmarks have been used to find a relative pose. We propose the method to estimate a relative pose of 2D laser sensors without any additional sensor or artificial landmark. By scanning two orthogonal planes, we utilize only the coplanarity of the scan points on each plane and the orthogonality of the plane normals. Experiments with both synthetic and real data show the validity of the proposed method. To the best of our knowledge this works provides the first solution for the problem.

关键词： Vectors Lasers Optimization Calibration Equations Sensor systems

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Extrinsic calibration of non-overlapping camera-laser system using structured environment

Extrinsic calibration of non-overlapping camera-laser system...

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2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yunsu Bok Dong-Geol Choi Pascal Vasseur In So Kweon Division of Future Vehicle KAIST Korea Robotics Program KAIST Korea Laboratory LITIS Université de Rouen France Department of Electrical Engineering KAIST Korea

In this paper are presented simple and practical solutions to extrinsic calibration between a camera and a 2D laser sensor, without overlap. Previous methods utilized a plane or an intersecting line of two planes as a geometric constraint with enough common field-of-view. These required additional sensors to calibrate non-overlapping systems. In this paper, we present two methods for solving the problem - one utilizes a plane; the other utilizes an intersecting line of two planes. For each method, an initial solution of the relative positions of a non-overlapping camera and a laser sensor, was computed by adopting a reasonable assumption about geometric structures. Then we refined it via non-linear optimization, even if the assumption was not perfectly satisfied. Both simulation results and experiments using real data showed that the proposed methods provided reliable results compared to ground-truth, and similar or better results than those provided by a conventional method.

关键词： Cameras Robot sensing systems Vectors Calibration Optimization Lasers Feature extraction

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7-DOF horseback riding simulator based on a crank mechanism with variable radius and its inverse kinematics solution

7-DOF horseback riding simulator based on a crank mechanism ...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Oh-Hun Kwon Jeong-Yean Yang Chan-Soon Lim Dong-Soo Kwon Robotics Program and HRI Research Center KAIST Daejeon Korean Department of Mechanical Engineering and HRI Research Center KAIST Daejeon Korean

This paper proposes a robotic simulator for horseback riding that incorporates a crank mechanism with a variable radius. In horseback riding simulations, it is necessary to efficiently generate vertical sinusoid motion. A novel crank mechanism is proposed to change the unidirectional rotation of a motor to sinusoid wave motion with an arbitrary magnitude and frequency. On the basis of the results of a kinematic analysis, the singularity and redundancy issues of the system are presented. To avoid the singularity problem, an inverse kinematics solution is presented and the result of the simulation shows stable solution of the inverse kinematics.

关键词： Kinematics Trajectory Robots AC motors Joints Jacobian matrices Redundancy

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Position estimation of landmark using 3D point cloud and trilateration method

Position estimation of landmark using 3D point cloud and tri...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Chul Roh Yungeun Choe Jinyong Jung Hyunjun Na Younggun Cho Myung Jin Chung Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Department of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea

ISBN: (纸本)9781479953349

We demonstrate the appropriacy of using laser distance meter as the accurate, cost-effective, simple solution for position estimation within precise 3D point cloud map in urban environment scenario. Our approach treats trilateration method with minimum error selection algorithm for better position accuracy of landmark. We validate the performance of our approach through 22 landmarks measured using RTK GPS for error analysis of proposed position estimation method based on trilateration.

关键词： Three-dimensional displays Estimation Measurement by laser beam Vehicles Sensors Global Positioning System Robots

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A RRT-based collision-free and occlusion-free path planning method for a 7DOF manipulator

A RRT-based collision-free and occlusion-free path planning ...

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IEEE International Conference on Mechatronics and Automation

作者： Yeoun-Jae Kim Jeong-Hyeon Wang So-Youn Park Joon-Yong Lee Jeong-Jung Kim Ju-Jang Lee Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea Department of Genetics Development and Cell Biology Iowa state university Ames USA

ISBN: (纸本)9781479939800

In this paper, we present a path planning algorithm of a 7DOF manipulator with RRT(Rapidly-exploring Random Trees). The method presents a occlusion-free and collision-free path planning algorithm. First, we present a basics of RRT algorithm which is a basic searching method for a path planning of this paper. Second, the implementation of a occlusion-free path constraints is presented. Third, the collision-avoiding path planning constraints is presented. Fourth, the integration of RRT with these two constraints is shown. The proposed method is verified by a numerical simulation with Matlab and v-rep robotics simulation tool.

关键词： Humanoid robots Manipulators Path planning Sensors Conferences Vectors

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Dynamic analysis of the spinal-pelvic motion match during feline galloping for speed increase into quadruped robotic system

Dynamic analysis of the spinal-pelvic motion match during fe...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Young Kook Kim Jongwon Park Byungho Yoon Kyung-Soo Kim Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (纸本)9781479960514

In terms of the speed performance in feline galloping, relative spinal motion is observed as a key role to increase the locomotion speed. In order to prove this, a domestic cat was observed to investigate galloping gait patterns of the feline. Based on the measurement of the dynamic behavior of a domestic cat, we observed a significant increase in speed through correlated angular rate changes of spinal segments. To support the motion into a quadruped system, the hindlimb stance phase was analyzed using a 2 dimensional planar dynamic model to verify that the external torque generated by spinal motion plays an important role in increasing the ground reaction force in the direction of movement. To verify the analysis, the dynamic simulation demonstrating the hindlimb stance was applied with 3 parameter variations: time, phase and the amplitude of the fitted relative angular velocity profile.

关键词： TV Minimization Robots

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Image feature-based real-time RGB-D 3D SLAM with GPU acceleration

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Journal of Institute of Control, robotics and Systems 2013年第5期19卷 457-461页

作者： Lee, Donghwa Kim, Hyongjin Myung, Hyun Department of Civil and Environmental Engineering KAIST Korea Republic of Robotics Program KAIST Korea Republic of

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

关键词： Degrees of freedom (mechanics)

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Automatic Color Detection for MiroSOT Using Quantum-Inspired Evolutionary Algorithm

Automatic Color Detection for MiroSOT Using Quantum-Inspired...

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16th FIRA RoboWorld Congress, FIRA 2013

作者： Kim, Deok-Hwa Yoo, Yong-Ho Ryu, Si-Jung Go, Woo-Young Kim, Jong-Hwan Department of Robotics Program KAIST 335 Gwahangno Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642404085

In a MiroSOT robot soccer program, operators manually adjust color setting using global vision system for detecting objects such as robots and a ball. It is a cumbersome and time-consuming operation before the game. Since spectators may make shadows and illumination changes on the pitch, it becomes more difficult to detect colors of the objects. For the convenience of operators, automatic color setting algorithm is needed. In this paper, an automatic color detection algorithm is proposed, in which quantum-inspired evolutionary algorithm is used. The effectiveness of the proposed algorithm is successfully demonstrated in the real robot soccer pitch with five MiroSOT soccer robots. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Color

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