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检索条件"机构=Korea Institute of Robot and Convergence Applied Technology Division"

共 147 条记录，以下是91-100 订阅

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INS/EKF-based stride length, height and direction intent detection for walking assistance robots

INS/EKF-based stride length, height and direction intent det...

引用

IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty robot sensing systems

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Implementation of force sensor with multi strain gauges for enhancing accuracy and precision

Implementation of force sensor with multi strain gauges for ...

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2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010

作者： Kim, Y.C. Ihn, Y.S. Choi, H.R. Lee, S.M. Koo, J.C. 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)9781424471010

A force sensor using strain gauges is widely used in many mechanical measuring systems. A method of measuring force and contact point using two gauges is available although it rather limited to extension of micro scale measurement. In order to overcome this limitation and to maximize a precision of the strain gauge sensor, sensor structure was optimized. Also, we used Kalman filtering for increasing an accuracy. It significantly increase the signal to noise ratio and stability of the sensor. This force sensor using strain gauges will be applied to diverse fields such as inspecting a micro system or manipulating small devices. © 2010 IEEE.

关键词： Strain gages

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A study on traversability of quadruped robot in rough terrain

A study on traversability of quadruped robot in rough terrai...

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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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High gain observer based nonlinear position control for electro-hydraulic servo systems

High gain observer based nonlinear position control for elec...

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作者： Kim, Wonhee Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9781424474264

We present a high gain observer-based nonlinear position control for electro-hydraulic servo systems. We design passivity based control for improve tracking performance. The passivity based control needs the full states information. Since the electro-hydraulic servo system has nonlinearities, we designed a modified high gain observer to estimate its states without the transformation for normal form. To reduce the effect of nonlinear terms, we use a high gain technique. We analyze the stability of the closed-loop system using the singular perturbation method. Simulations show that the proposed controller has better position tracking performance than a standard PI controller. © 2010 AACC.

关键词： Closed loop systems

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Implementation of Force Sensor with Multi Strain Gauges for Enhancing Accuracy and Precision

Implementation of Force Sensor with Multi Strain Gauges for ...

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2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： J. C. Koo Y. S. Ihn Y. C. Kim H. R. Choi S. M. Lee School of Mechanical Engineering Sungkyunkwan University Suwon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

关键词： Optical filters Sun Actuators Torque Optical sensors

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A study on traversability of quadruped robot in rough terrain

A study on traversability of quadruped robot in rough terrai...

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International Conference on Control, Automation and Systems ( ICCAS)

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

关键词： Legged locomotion Leg robot kinematics Kinematics Rain Service robots

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Extracting extrinsic parameters of a laser scanner and a camera using EM

Extracting extrinsic parameters of a laser scanner and a cam...

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

作者： Park, Jae-Han Shin, Yong-Deuk Park, Kyung-Wook Baeg, Seung-Ho Baeg, Moon-Hong Division of Applied Robot Technology Korea Institute of Industrial Technology Seoul Korea Republic of

ISBN: (纸本)9784907764296

The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters. © 2009 SICE.

关键词： Cameras

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Development of task planner for u-intelligent educational robots

Development of task planner for u-intelligent educational ro...

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

作者： Ko, Woohyun Han, Jaeseong Ji, Sanghoon Nam, Kyungtae Lee, Sangmoo Shon, Woonghee Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764333

Recently, robots have penetrated the education market. But the power train for commercializing the robots has not been prepared yet due to chasm between developers and customers. Thus, we present a tool for u-intelligent educational robots to help customers design robot contents easily. To do so, our tool has several features. First, the tool is based on a behavior-based control architecture for human-robot-interaction. Second, the tool has behavior categories for convenience. Finally, robot contents are based on commercial multi-media for compatibility with established educational contents. Effectiveness and practicality of our tools are verified by physical implementation for commercial educational robots. © 2009 SICE.

关键词： Human robot interaction

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Sensor fusion localization system for outdoor mobile robot

Sensor fusion localization system for outdoor mobile robot

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

作者： Lee, Donghoon Son, Sukyung Yang, Kwangwoong Park, Jonghwan Lee, Hogil Intelligent Robot Engineering University of Science and Technology Ansan Korea Republic of Division for Applied Robot Techonology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

The purpose of this study is to develop sensor fusion loclization of autonomous mobile robot for outdoor environment. We merge 2 localization models;a Camera sensor with Particle filter and two GPS sensors with Kalman filter. The marks on the load such as lane, arrow, cross road and speed hump, etc., are most important information in urban environment. The camera device is useful to detect road landmarks, because the information printed on the road are color-based model. We use Delaunay triangulation method to extract landmark points in the interest region. The robot finds out the position by comparing these landmark points with a map with Particle filter algorithm. We also use GPS that provides global position directly. The GPS, however, has large drift position data caused by intentional pseudo noise and slow acquisition time for mobile robot. In this paper, a sensor fusion localization system is proposed to get the robot's reasonable position by fusing these 2 localization models that compensate the weak points each other. © 2009 SICE.

关键词： Mobile robots

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Software architecture of human-like robot

Software architecture of human-like robot

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

作者： Lee, Tae-Geun Yang, Kwang-Woong Choi, Moo-Sung Shin, Un-Chol Intelligent Robot Platform Research Team SoluBot Inc. Ansan Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

Software architectures have been suggested for a non-industrial robot up to the present, however a few developer who working in the robot field are applying those to manufactured products. Such software architecture of the robot is not using with several reasons in the field of a robot in spite of excellent advantages. This paper proposes using a device management of the software architecture, which has a hierarchical structure, in a human-like robot. Especially, we applied to the rent business of the android platform, EveR1;the compound word of Eve and robot [1]. The device may be real mechanical parts like a sensor, motor, and camera or virtual parts like a motor arbiter, motion generator, and priority maker. The virtual parts are software components which are used in operating the android platform. The device management exists between hardware and software of a robot, and makes the hardware compatibility for applied to applications in the high layer of software. It is compatible due to separating similar functions of each device which is managed in the device management, and providing same abstract interfaces. For instance, an application developed by using a motor driver of one corporation is exchanged for a motor drive of the other corporation with minimal code modification. © 2009 SICE.

关键词： Application programs

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