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检索条件"机构=KAIST Robotics Program"

共 141 条记录，以下是131-140 订阅

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Intelligent navigation and control of an autonomous underwater vehicle based on Q-learning and self-organizing control

Intelligent navigation and control of an autonomous underwat...

引用

ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Kim, Namhoon Yoon, Gyeong-Hwan Lee, Doheon Robotics Program KAIST Korea Republic of Robotics Program KAIST Daeyang Electric Co.Ltd. Korea Republic of Robotics Program KAIST Dept. of Bio and Brain Engineering Korea Republic of

ISBN: (纸本)9784907764333

An autonomous underwater vehicle(AUV) is developed to explore and patrol in underwater environments. To accomplish these objectives, an autonomous navigation and control system is essential to an AUV. An intelligent navigation system produces safe paths from the start point to the target point by itself, and the control system makes the vehicle follow the planned path. In this paper, we propose an autonomous navigation and control system for AUVs based on reinforcement learning scheme. © 2009 SICE.

关键词： Intelligent systems

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Virtual Door-Based Coverage Path Planning for Mobile Robot

Virtual Door-Based Coverage Path Planning for Mobile Robot

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12th International FIRA RoboWorld Congress

作者： Myung, Hyun Jeon, Hae-min Jeong, Woo-Yeon Bang, Seok-Won Department of Civil and Environmental and Engineering KAIST Daejeon 305-701 Yuseong-gu South Korea Samsung Advanced Institute of Technology Samsung Electronics Co. Ltd. Giheung Yongin 449-712 South Korea Robotics Institute Carnegie Mellon Univ. Pittsburgh PA 15213 5000 Forbes Avenue United States KIUSS(KAIST Institute for Urban Space and Systems) Robotics Program South Korea

ISBN: (纸本)9783642039829

This paper presents a novel coverage path planning method in indoor environment for a mobile robot such as cleaning robot. Overall region is divided into several sub-regions based on the virtually extracted doors. The algorithm is inspired from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The virtual door algorithm extracts the virtual doors by combining a Generalized Voronoi Diagram (GVD) and a configuration space eroded by the half of the door size. The region to region cleaning algorithm is also proposed based on the closing and opening operations of virtual doors. The performance of the proposed algorithm has been tested on various real indoor environments using a commercially available cleaning robot.

关键词： Virtual Door Coverage Path Planning Mobile Robot

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Online Support Vector Regression based value function approximation for Reinforcement Learning

Online Support Vector Regression based value function approx...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Dong-Hyun Lee Vo Van Quang Sungho Jo Ju-Jang Lee Robotics Program KAIST Daejeon Korea School of Electrical Engineering and Computer Science KAIST Daejeon Korea KAIST School of Electrical Engineering and Computer Science Daejeon Korea

This paper proposes the online Support Vector Regression (SVR) based value function approximation method for Reinforcement Learning (RL). This approach conserves the Support Vector Machine (SVM)'s good property, the generalization which is a key issue of function approximation. Online SVR can do incremental learning and automatically track variation of environment with time-varying characteristics. Using the online SVR, we can obtain the fast and good estimation of value function and achieve RL objective efficiently. Throughout simulation tests, the feasibility and usefulness of the proposed approach is demonstrated by comparison with SARSA and Q-learning.

关键词： Function approximation Learning Support vector machines State estimation Electronic mail Quadratic programming Industrial electronics Computer science robotics and automation Testing

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Stochastic approach on a simplified OCC model for uncertainty and believability

Stochastic approach on a simplified OCC model for uncertaint...

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

作者： Won Hwa Kim Jeong Woo Park Won Hyong Lee Woo Hyun Kim Myung Jin Chung Robotics Program KAIST Daejeon South Korea School of Electrical Engineering and Computer Science Division of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781424448081

As robots step into the human's daily lives, interaction and communication between human and robot is becoming essential. For this social interaction with humans, we propose an emotion generation model considering simplicity, believability and uncertainty. First, OCC model is simplified and then stochastic approach on emotion decision algorithm for believability and uncertainty is applied. The proposed model is implemented on a 3D robot expression simulator that can express emotions through its facial expression, gesture, led and so on. A demo of the model is provided as a result.

关键词： Stochastic processes Uncertainty Cognitive robotics Human robot interaction Intelligent robots Electronic mail Databases Atherosclerosis Humanoid robots Computational modeling

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A new steering law with designated direction escape (DDE) for control moment gyros

A new steering law with designated direction escape (DDE) fo...

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作者： Lee, Seung-Mok Rhee, Seung-Wu Dep. of Satellite System and Application University of Science and Technology 52 Eoeun-dong Yuseong-gu Daejeon 305-333 Korea Republic of Korea Aerospace Research Institute Korea Republic of Department of CEE Robotics Program KAIST Korea Republic of

In this letter we provide a steering law for redundant single-gimbal control moment gyros. The proposed steering law is an extended version of the singular direction avoidance (SDA) steering law based on the singular value decomposition (SVD). All internal singularities are escapable for any non-zero constant torque command using the proposed steering law. Copyright © 2009 The Institute of Electronics, Information and Communication Engineers.

关键词： Singular value decomposition

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Thumb-tip force estimation from sEMG and a musculoskeletal model for real-time finger prosthesis

Thumb-tip force estimation from sEMG and a musculoskeletal m...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Won-Il Park Sun-Cheol Kwon Hae-Dong Lee Jung Kim KAIST Robotics program Daejeon South Korea Department of Mechanical Engineering KAIST Daejeon South Korea BK21 Mechatronics Group Chungnam National University Daejeon South Korea

Due to the difficulties in measurement of muscle activities and the complex musculoskeletal structure, estimations of the thumb-tip force in real time have been a challenge for controlling artificial prosthesis naturally. This study describes an isometric thumb-tip force estimation technique based on phenomenological muscle model named Hill's model. The surface electromyogram(sEMG) signals of the muscles near surface were measured and converted to muscle activation information. The activations of deep muscles were inferred from the ratios of muscle activations from earlier study. The muscle length of each contributed muscle was obtained by using motion capture system and musculoskeletal modeling software packages. Once muscle forces were calculated, thumb-tip force was estimated based on mapping model from the muscle force to thumb-tip force. The proposed method was evaluated in comparisons with an artificial neural network (ANN) under four different thumb configurations to investigate the potential for estimations under conditions in which the thumb configuration changes. The results seem to be promising and the proposed method could be applied to predict finger-tip forces from non-invasive neurosignals with a real-time prosthesis control system.

关键词： Musculoskeletal system Fingers Prosthetics Muscles Force measurement Force control Artificial neural networks Thumb Software packages Real time systems

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Design of fuzzy controller for automatic steering

Design of fuzzy controller for automatic steering

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作者： Ko, Sang-Jin Lee, Jun-Woo Choi, Byoung-Suk Lee, Ju-Jang Graduate School of Automobile Technology KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering and Computer Science KAIST Daejeon Korea Republic of

ISBN: (纸本)9784990288020

Unmanned vehicle is future vehicle technology. Lateral control technology and longitudinal control technology are needed for unmanned vehicle. Automatic steering system is lateral control technology. A automatic steering system automatically controls the steering to keep the vehicle in its land and also to follow the lane as it curves around. This paper proposes automatic steering system based on fuzzy logic. If the fuzzy rules are set properly, the fuzzy controller can control the objective system nicely. To design an automatic steering system, lateral error dynamics of a vehicle is derived. The proposed automatic steering system is evaluated by SIMULINK in MATLAB. The simulation results show that the proposed automatic steering system works satisfactorily for keeping the vehicle in its land and following the lane. ©ISAROB 2008.

关键词： Fuzzy control

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Understanding of hands and task characteristics for development of biomimetic robot hands

Understanding of hands and task characteristics for developm...

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IEEE-RAS International Conference on Humanoid Robots

作者： Changmok Choi Mihye Shin Suncheol Kwon Wonil Park Jung Kim Department Mechanical Engineering KAIST South Korea The Robotics Program KAIST South Korea

ISBN: (纸本)9781424428212

This paper describes a study to understand human hand dexterity, which is the ultimate goal of biomimetic robot hands. The hand is one of the most complicated organs in the human body and this complicated anatomical structure is a source of a dexterity and force capability that man-made hands have rarely achieved. The anatomical and neuromuscular aspects of the human hand are surveyed to provide technical specifications. In addition, the roles of visual and tactile sensory capabilities during object manipulation are discussed. Finally, the paper presents an instrumentation system for measuring surface electromyogram (sEMG) and exerted finger forces concurrently. This system is able to characterize hand tasks and provide technical specifications for development of biomimetic hands with dexterity and force capabilities that are comparable to those of human hands.

关键词： Biomimetics Humans Humanoid robots Robot sensing systems Anatomical structure Muscles Fingers Legged locomotion Bones Central nervous system

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Real-time isometric pinch force prediction from sEMG

Real-time isometric pinch force prediction from sEMG

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Changmok Choi Suncheol Kwon Wonil Park Mihye Shin Jung Kim Department of Mechanical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

This paper describes a real-time isometric pinch force prediction algorithm using surface electromyogram (sEMG). The activities of seven muscles related to the movements of the thumb and index finger joints, which are observable using surface electrodes, were recorded during pinch force experiments. For the successful implementation of the real-time prediction algorithm, an off-line analysis was performed using the recorded activities. From the seven muscles, four muscles were selected for monitoring using the Fisher linear discriminant paradigm in an off-line analysis, and the recordings from these four muscles provided the most effective information for mapping sEMG to the pinch force. An ANN structure was designed to perform efficient training and to avoid both under-fitting and over-fitting problems. Finally, the pinch force prediction algorithm was tested with five volunteers and the results were evaluated using two criteria: normalized root mean squared error (NRMSE) and correlation (CORR). The training time for the subjects was only 2 min 29 sec, but the prediction results were successful with NRMSE = 0.093 plusmn0.047 and CORR = 0.957 plusmn0.031. These results imply that the proposed algorithm is useful to measure the generated pinch force without force sensors. The possible applications of the proposed method include controlling bionic finger robot systems to overcome finger paralysis or amputation.

关键词： Muscles Prediction algorithms Fingers Force measurement Force sensors Thumb Electrodes Performance analysis Algorithm design and analysis Monitoring

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Abandoned object position prediction based on mobile robot

Abandoned object position prediction based on mobile robot

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Soung Min Im Ju Jang Lee Robotics program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea

Visual surveillance with dynamic background is one of the most active research topics in computer vision. Especially, researches for abandoned detection in the public place have been caused by preventing terror and accident. Previous researches for abandoned detection have been based on a static image and used an image difference. In this paper we present an algorithm for a mobile robot and we use optical flow for detecting a static object and distances from abandoned objects. For this purpose, we find abandoned objects and predict a position of objects using a mobile robot visual system with a single camera.

关键词： Mobile robots Surveillance Computer vision Accidents Image motion analysis Object detection Optical detectors Visual system Robot vision systems Cameras

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