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The Journal of Korea Robotics Society
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The Korea Robotics Society
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Volume & Issues
Volume 1, Issue 2 - Dec 2006
Volume 1, Issue 1 - Sep 2006
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Classification of Wearable Walking-Assistive Robots for Task-Oriented Design
Kim, Heon-Hui ; Jung, Jin-Woo ; Jang, Hyo-Young ; Kim, Jin-Oh ; Bien, Zeung-Nam ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 1~8
In this paper, we propose a methodology for classifying types of lower limb disability and their mechanical structure, based on extensive survey of previous developments. We also propose a task-oriented design with human-friendly and energy-efficient assistive system. The result can be used for optimal design of wearable walking-assistive robot considering the type of disability and the content of task.
Mobile Robot Path Planner for Environment Exploration
Bae, Jung-Yun ; Lee, Soo-Yong ; Lee, Beom-Hee ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 9~16
The Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. An algorithm has been developed for robots which explore the environment to measure the physical properties (dust in this paper). While the robot is moving, it measures the amount of dust and registers the value in the corresponding grid cell. The robot moves from local maximum to local minimum, then to another local maximum, and repeats. To reach the local maximum or minimum, simple gradient following is used. Robust estimation of the gradient using perturbation/correlation, which is very effective when analytical solution is not available, is described. By introducing the probability of each grid cell, and considering the probability distribution, the robot doesn't have to visit all the grid cells in the environment still providing fast and efficient sensing. The extended algorithm to coordinate multiple robots is presented with simulation results.
Tele-operation of a Mobile Robot Using Force Reflection Joystick with Single Hall Sensor
Lee, Jang-Myung ; Jeon, Chan-Sung ; Cho, Seung-Keun ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 17~24
Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.
A Practical Solution toward SLAM in Indoor environment Based on Visual Objects and Robust Sonar Features
Ahn, Sung-Hwan ; Choi, Jin-Woo ; Choi, Min-Yong ; Chung, Wan-Kyun ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 25~35
Improving practicality of SLAM requires various sensors to be fused effectively in order to cope with uncertainty induced from both environment and sensors. In this case, combining sonar and vision sensors possesses numerous advantages of economical efficiency and complementary cooperation. Especially, it can remedy false data association and divergence problem of sonar sensors, and overcome low frequency SLAM update caused by computational burden and weakness in illumination changes of vision sensors. In this paper, we propose a SLAM method to join sonar sensors and stereo camera together. It consists of two schemes, extracting robust point and line features from sonar data and recognizing planar visual objects using multi-scale Harris corner detector and its SIFT descriptor from pre-constructed object database. And fusing sonar features and visual objects through EKF-SLAM can give correct data association via object recognition and high frequency update via sonar features. As a result, it can increase robustness and accuracy of SLAM in indoor environment. The performance of the proposed algorithm was verified by experiments in home -like environment.
Utilization of Visual Context for Robust Object Recognition in Intelligent Mobile Robots
Kim, Sung-Ho ; Kim, Jun-Sik ; Kweon, In-So ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 36~45
In this paper, we introduce visual contexts in terms of types and utilization methods for robust object recognition with intelligent mobile robots. One of the core technologies for intelligent robots is visual object recognition. Robust techniques are strongly required since there are many sources of visual variations such as geometric, photometric, and noise. For such requirements, we define spatial context, hierarchical context, and temporal context. According to object recognition domain, we can select such visual contexts. We also propose a unified framework which can utilize the whole contexts and validates it in real working environment. Finally, we also discuss the future research directions of object recognition technologies for intelligent robots.
A Priority-based Interactive Approach to Multi-agent Motion Planning
Ji, Sang-Hoon ; Jung, Youn-Soo ; Lee, Beom-Hee ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 46~57
It is well known that mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agent. Most of the past research results thus are based on the probabilistic completeness. However, the practicality and effectiveness of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. In this paper, we propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents for the case of general shaped paths in agent movement. First, to reduce the computation time, a collision map is utilized for detecting potential collisions and obtaining collision-free solutions for multi-agents. Second, to minimize the maximum of multi-agent task execution time, a method is developed for selecting an optimal priority order. Simulations are finally provided for more than 20 agents to emphasize the effectiveness of the proposed interactive approach to multi-agent planning problems.
Emotional Interface Technologies for Service Robot
Yang, Hyun-Seung ; Seo, Yong-Ho ; Jeong, Il-Woong ; Han, Tae-Woo ; Rho, Dong-Hyun ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 58~65
The emotional interface is essential technology for the robot to provide the proper service to the user. In this research, we developed emotional components for the service robot such as a neural network based facial expression recognizer, emotion expression technologies based on 3D graphical face expression and joints movements, considering a user's reaction, behavior selection technology for emotion expression. We used our humanoid robots, AMI and AMIET as the test-beds of our emotional interface. We researched on the emotional interaction between a service robot and a user by integrating the developed technologies. Emotional interface technology for the service robot, enhance the performance of friendly interaction to the service robot, to increase the diversity of the service and the value-added of the robot for human. and it elevates the market growth and also contribute to the popularization of the robot. The emotional interface technology can enhance the performance of friendly interaction of the service robot. This technology can also increase the diversity of the service and the value-added of the robot for human. and it can elevate the market growth and also contribute to the popularization of the robot.
Face Recognition System with SVDD-based Incremental Learning Scheme
Kang, Woo-Sung ; Na, Jin-Hee ; Ahn, Ho-Seok ; Choi, Jin-Young ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 66~72
In face recognition, learning speed of face is very important since the system should be trained again whenever the size of dataset increases. In existing methods, training time increases rapidly with the increase of data, which leads to the difficulty of training with a large dataset. To overcome this problem, we propose SVDD (Support Vector Domain Description)-based learning method that can learn a dataset of face rapidly and incrementally. In experimental results, we show that the training speed of the proposed method is much faster than those of other methods. Moreover, it is shown that our face recognition system can improve the accuracy gradually by learning faces incrementally at real environments with illumination changes.
Kinematics and Inverse Kinematics in Unmanned Bicycle System
Ham, Woon-Chul ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 73~80
Bicycle is one of convenient transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bicycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.
Double Actuator Unit based on the Planetary Gear Train Capable of Position/Force Control
Kim, Byeong-Sang ; Park, Jung-Jun ; Song, Jae-Bok ; Kim, Hong-Seok ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 81~88
Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control using a force-torque sensor or the indirect impedance control. In these methods, however, the control algorithms become complicated and the performance of position and force control cannot be improved because of the mechanical properties of the passive components. To cope with such problems, redundant actuation has been used to enhance the performance of position control and force control. In this research, a Double Actuator Unit (DAU) is proposed, with which the force control algorithm can be simplified and can make the robot ensure the safety during the external collision. The DAU is composed of two actuators; one controls the position and the other modulates the joint stiffness. Using this unit, it is possible to independently control the position and stiffness. The DAU based on the planetary gears is investigated in this paper. Performance using the DAU is also verified by various experiments. It is shown that the manipulator using this mechanism provides better safety during the impact with the environment by reducing the joint stiffness appropriately on detecting the collision of a manipulator.
Wearable Tactile Display Based on Soft Actuator
Koo, Ig-Mo ; Jung, Kwang-Mok ; Park, Jong-Kil ; Koo, Ja-Choon ; Lee, Young-Kwan ; Nam, Jae-Do ; Choi, Hyouk-Ryeol ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 89~101
Tactile sensation is one of the most important sensory functions for human perception of objects. Recently, there have been many technical challenges in the field of tactile display as well as tactile sensing. In this paper, we propose an innovative tactile display device based on soft actuator technology with ElectroActive Polymer(EAP). This device offers advantageous features over existing devices with respect to intrinsic flexibility, softness, ease of fabrication and miniaturization, high power density, and cost effectiveness. In particular, it can be adapted to various geometric configurations because it possesses structural flexibility, so it can be worn on any part of the human body such as finger, palm, and arm etc. It can be extensively applied as a wearable tactile display, a Braille device for the visually disabled, and a human interface in the future. A new design of the flexible actuator is proposed and its basic operational principles are discussed. In addition, a wearable tactile display device with
actuator array(20 actuator cells) is developed and its effectiveness is confirmed.
Development of Intelligent Service Robot : Teaching Assistance Robot for Elementary School
Jeon, Sang-Won ; Hwang, Byung-Hun ; Kim, Byung-Soo ;
The Journal of Korea Robotics Society, volume 1, issue 1, 2006, Pages 102~106