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检索条件"机构=The Robotics Engineering Program"

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Ground following locomotion of a robot inspired by pill bugs

Ground following locomotion of a robot inspired by pill bugs

引用

2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Park, Jongwon Kim, Young Kook Jung, Won Suk Kim, Kyung-Soo Kim, Soohyun Department of Mechanical Engineering KAIST Daejeon 305-701 Korea Republic of Robotics Program KAIST Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781457721373

This paper introduces 'Ground Following Locomotion' as a means to traverse rough terrain inspired by pill bugs(Armadillidium vulgare). The locomotion of pill bugs is unique and effective on irregular terrain. Pill bugs bend their bodies actively along with the terrain to maintain traction force and the behavior enables them to overcome irregular terrain easily. This biological principle can be applied to small robots to overcome rough terrain by adjusting relative positions of body modules. Analysis and simulations will be conducted to compare performance of adjustable joint model(ground following locomotion) and fixed joint model and the results will show that the performance of ground following locomotion is effective to overcome vertical obstacles. The principle described here could be applied to small ground robots to improve mobility on rough terrains. © 2011 IEEE.

关键词： Robots

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Hole filled 3D map using mobile robots in the urban environment

Hole filled 3D map using mobile robots in the urban environm...

引用

2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Park, Sang Un Shim, Inwook Chung, Myung Jin Department of Electrical Engineering KAIST Daejeon 350-701 Korea Republic of Robotics Program KAIST Daejeon 350-701 Korea Republic of

ISBN: (纸本)9781457707223

3D mapping and expression of the environment are very important with various applications in many different fields. Among the various sensors (vision sensor, infrared sensor, and LiDAR (Light Detection and Ranging) sensor), we used the LiDAR sensor in this paper because its accuracy is good and easy to handle. There exist holes in the result of 3D reconstruction. When these holes are filled, improved results of localization, and path planning are expected. We propose a contour based sampling algorithm to fill holes. It uses the information from regions near the holes for the prediction, and the results confirm that the filled regions look similar to the real environment. © 2011 IEEE.

关键词： Motion planning

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3D mapping in urban environment using geometric featured voxel

3D mapping in urban environment using geometric featured vox...

引用

2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Shim, Inwook Choe, Yungeun Chung, Myung Jin Robotics Program KAIST Daejeon 350-701 Korea Republic of Department of Electrical Engineering KAIST Daejeon 350-701 Korea Republic of

ISBN: (纸本)9781457707223

In recent year, much progress has been made in outdoor 3D mapping. However, 3D mapping in real time is still a daunting challenge in urban environment. This paper addresses the problem of 3D mapping from 3D laser scans in urban environments in real time. To do this, we proposed geometric featured voxel which can efficiently represent 3D urban structure without loss of geometric properties. For evaluation of the proposed voxel, we use Oakland dataset. © 2011 IEEE.

关键词： Mapping

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Ground Following Locomotion of a Robot Inspired by Pill Bugs

Ground Following Locomotion of a Robot Inspired by Pill Bugs

引用

IEEE International Conference on robotics and Biomimetics

作者： Jongwon Park Young Kook Kim Won Suk Jung Kyung-Soo Kim Soohyun Kim Department of Mechanical Engineering KAIST Robotics Program KAIST

ISBN: (纸本)9781457721366

This paper introduces 'Ground Following Locomotion' as a means to traverse rough terrain inspired by pill bugs (Armadillidium vulgare). The locomotion of pill bugs is unique and effective on irregular terrain. Pill bugs bend their bodies actively along with the terrain to maintain traction force and the behavior enables them to overcome irregular terrain easily. This biological principle can be applied to small robots to overcome rough terrain by adjusting relative positions of body modules. Analysis and simulations will be conducted to compare performance of adjustable joint model (ground following locomotion) and fixed joint model and the results will show that the performance of ground following locomotion is effective to overcome vertical obstacles. The principle described here could be applied to small ground robots to improve mobility on rough terrains.

关键词： Locomotion Rough terrain Robot Pill Dosage Form bugs Bugs small robots terrains ground Traction force landscapes Respiratory Inspiration

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Design of interval type-2 fuzzy logic controllers for flocking algorithm

Design of interval type-2 fuzzy logic controllers for flocki...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Mok Lee Jong-Hwan Kim Hyun Myung Department of Civil and Environmental Engineering Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science Robotics Program KAIST Daejeon South Korea

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produces better performances under noisy environments. In this paper, therefore, we present a reactive control architecture for flocking algorithm that is based on interval type 2 FLC to implement the flocking behaviors consisting separation, obstacle avoidance, and velocity matching behaviors. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC.

关键词： Collision avoidance Robot sensing systems Trajectory Fuzzy sets Fuzzy logic Noise measurement

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A comparison of two algorithms for robot learning from demonstration

A comparison of two algorithms for robot learning from demon...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Halit Bener Suay Sonia Chernova Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

Robot learning from demonstration focuses on algorithms that enable a robot to learn a policy from demonstrations performed by a teacher, typically a human expert. This paper presents an experimental evaluation of two learning from demonstration algorithms, Interactive Reinforcement Learning and Behavior Networks. We evaluate the performance of these algorithms using a humanoid robot and discuss the relative advantages and drawbacks of these methods with respect to learning time, number of demonstrations, ease of implementation and other metrics. Our results show that Behavior Networks rely on a greater degree of domain knowledge and programmer expertise, requiring very precise definitions for behavior pre- and post-conditions. By contrast Interactive RL requires a relatively simple implementation based only on the robot's sensor data and actions. However, Behavior Networks leverage the pre-coded knowledge to effectively reduce learning time and the required number of human interactions to learn the task.

关键词： Robot sensing systems Humans Strontium Learning Actuators Knowledge engineering

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Towards energy efficiency in micro hovering air vehicles

Towards energy efficiency in micro hovering air vehicles

引用

2011 IEEE Aerospace Conference, AERO 2011

作者： Ratti, Jayant Vachtsevanos, George Ph.D. Robotics Program School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States

ISBN: (纸本)9781424473502

Micro Aerial Vehicles (MAVs) have gained a significant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance and Reconnaissance (ISR) Missions. However, much of the work done in VTOL/Hover-Capable MAVs till date has not shown performance improvement in flight endurance and payload capacities. In this paper we introduce and detail the Energy Dynamics of a novel Quad-Wing MAV (QV) design and illustrate the improvement in-flight energy consumption, directed towards higher payload capacities and longer flight times. Additionally we show that independent wing control of the QV generates all 6 Degrees of Freedom (DoF) flight maneuvers. By the use of passive elastic elements, we can produce resonant flapping, generating lift and further improvements in energy savings. © 2011 IEEE.

关键词： Energy utilization

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Probabilistic voxel mapping using stereo matching confidence

Probabilistic voxel mapping using stereo matching confidence

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Kim, Sijong Ahn, Seunguk Chung, Myung Jin Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of Robotics Program Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781457707223

There has been meaningful research into the development of 3D world modeling techniques that are important requisite for intelligent vehicle navigation. In this paper we describe a 3D probabilistic voxel mapping process using stereo matching confidence. Proposed 3D probabilistic voxel map is more reliable representation than general voxel map that just contains the occupancy information. To get the matching confidence value, we evaluate stereo matching costs and its propagation. We test the proposed method in large-scale outdoor environment. © 2011 IEEE.

关键词： Intelligent vehicle highway systems

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Global path planning using improved ant colony optimization algorithm through bilateral cooperative exploration

Global path planning using improved ant colony optimization ...

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5th IEEE International Conference on Digital Ecosystems and Technologies, DEST 2011

作者： Lee, Joon-Woo Lee, Dong-Hyun Lee, Ju-Jang Dept. of Electrical Engineering KAIST 335 Gwahangno Yuseong-gu Daejeon 305-701 Korea Republic of Robotics Program KAIST 335 Gwahangno Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781457708725

We proposed the Heterogeneous Ant Colony Optimization (HACO) algorithm to solve the global path planning problem for autonomous mobile robot in the previous paper. The HACO algorithm was modified and optimized to solve the global path planning problem unlike the conventional ACO algorithm which was proposed to solve the Traveling Salesman Problem (TSP) or Quadratic Assignment Problem (QAP). However, there is a common shortcoming in the ACO algorithms for global path planning, including HACO algorithm. Ants carry out the exploration task relatively well around the starting point. On the other hand, they are hindered in their work as they approached the goal point, because they are attracted by the intensity of heuristic value and the accumulated pheromone while the ACO algorithm works. As a result, they have a strong tendency not to explore and most of them follow the path that found in the beginning of the search. This could cause the local optimal solutions. Thus, we propose a way to solve this problem in this paper. It is the Bilateral Cooperative Exploration (BCE) method. The BCE is the idea that performs the search task again by changing the goal point into the starting point and vice versa. The simulation shows the effectiveness of the proposed method. © 2011 IEEE.

关键词： Traveling salesman problem

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Global path planning using improved ant colony optimization algorithm through bilateral cooperative exploration

Global path planning using improved ant colony optimization ...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Joon-Woo Lee Dong-Hyun Lee Ju-Jang Lee Department of Electrical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

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