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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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The Journal of Korea Robotics Society
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Journal DOI :
The Korea Robotics Society
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Volume & Issues
Volume 6, Issue 4 - Nov 2011
Volume 6, Issue 3 - Aug 2011
Volume 6, Issue 2 - May 2011
Volume 6, Issue 1 - Feb 2011
Selecting the target year
Monocular Vision Based Localization System using Hybrid Features from Ceiling Images for Robot Navigation in an Indoor Environment
Kang, Jung-Won ; Bang, Seok-Won ; Atkeson, Christopher G. ; Hong, Young-Jin ; Suh, Jin-Ho ; Lee, Jung-Woo ; Chung, Myung-Jin ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 197~209
DOI : 10.7746/jkros.2011.6.3.197
This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.
Mixing Collaborative and Hybrid Vision Devices for Robotic Applications
Bazin, Jean-Charles ; Kim, Sung-Heum ; Choi, Dong-Geol ; Lee, Joon-Young ; Kweon, In-So ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 210~219
DOI : 10.7746/jkros.2011.6.3.210
This paper studies how to combine devices such as monocular/stereo cameras, motors for panning/tilting, fisheye lens and convex mirrors, in order to solve vision-based robotic problems. To overcome the well-known trade-offs between optical properties, we present two mixed versions of the new systems. The first system is the robot photographer with a conventional pan/tilt perspective camera and fisheye lens. The second system is the omnidirectional detector for a complete 360-degree field-of-view surveillance system. We build an original device that combines a stereo-catadioptric camera and a pan/tilt stereo-perspective camera, and also apply it in the real environment. Compared to the previous systems, we show benefits of two proposed systems in aspects of maintaining both high-speed and high resolution with collaborative moving cameras and having enormous search space with hybrid configuration. The experimental results are provided to show the effectiveness of the mixing collaborative and hybrid systems.
Development of a 16 DOF Anthropomorphic Robot Hand with Back-Drivability Joint for Stable Grasping
Yang, Hyun-Dae ; Park, Sung-Woo ; Park, Jae-Han ; Bae, Ji-Hun ; Baeg, Moon-Hong ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 220~229
DOI : 10.7746/jkros.2011.6.3.220
This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.
Design Study of 3 Segment Leg with Stable Region at low and high Speed Running
Kwon, Oh-Seok ; Lee, Dong-Ha ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 230~236
DOI : 10.7746/jkros.2011.6.3.230
In previous researches, the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we prove the self-stable region of the three segment leg designed by the proposed design direction.
Cluster Robots Line formatted Navigation Based on Virtual Hill and Virtual Sink
Kang, Yo-Hwan ; Lee, Min-Cheol ; Kim, Chi-Yen ; Yoon, Sung-Min ; Noh, Chi-Bum ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 237~246
DOI : 10.7746/jkros.2011.6.3.237
Robots have been used in many fields due to its performance improvement and variety of its functionality, to the extent which robots can replace human tasks. Individual feature and better performance of robots are expected and required to be created. As their performances and functions have increased, systems have gotten more complicated. Multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a cluster the automatic driving method so that they stably arrive at the target. The energy method mentioned above is applying attractive force and repulsive force to a special target, other robots or obstacles. This creates the potential energy, and the robot is controlled to drive in the direction of decreasing energy, which basically satisfies lyapunov function. Through this method, a cluster robot is able to create a formation and stably arrives at its target.
Effective Sonar Grid map Matching for Topological Place Recognition
Choi, Jin-Woo ; Choi, Min-Yong ; Chung, Wan-Kyun ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 247~254
DOI : 10.7746/jkros.2011.6.3.247
This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.
Path Planning for an Intelligent Robot Using Flow Networks
Kim, Gook-Hwan ; Kim, Hyung ; Kim, Byoung-Soo ; Lee, Soon-Geul ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 255~262
DOI : 10.7746/jkros.2011.6.3.255
Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.
Motion analysis for control of a 2-DOF horse riding robot
Seo, Dong-Jin ; Jun, Se-Woong ; Kim, Young-Ouk ; Ko, Nak-Yong ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 263~273
DOI : 10.7746/jkros.2011.6.3.263
This paper analyzes the motion of a horseback riding robot which has two actuators and three joints. It is impossible to control the saddle to get to any position and orientation using the two motors because the robot has less degrees of freedom than the number of joints. Therefore it is required to know the possible location and orientation along with the velocity characteristics of each pose prior to motion planning. For this purpose, this paper analyzes the characteristics of the robot motion. The authors derive the forward and inverse kinematics of the robot motion and developed the trajectory editor for motion planning. Also, Jacobian of the robot is analyzed. It reveals that one of the actuator has little influence to the speed of the saddle motion while the other affects the speed of the saddle motion dominantly. The approach of the paper can be applied for the analysis of characteristics of a robot which has less number of actuators than that of joints.
Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force
Kang, I-Saac ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 274~283
DOI : 10.7746/jkros.2011.6.3.274
A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins.
Estimation of the Frictional Coefficient of Contact Point between the Terrain and the Wheel-Legged Robot with Hip Joint Actuation
Shin, Dong-Hwan ; An, Jin-Ung ; Moon, Jeon-Il ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 284~291
DOI : 10.7746/jkros.2011.6.3.284
This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.
Outdoor Localization of a Mobile Robot Using Weighted GPS Data and Map Information
Bae, Ji-Hun ; Song, Jae-Bok ; Choi, Ji-Hoon ;
The Journal of Korea Robotics Society, volume 6, issue 3, 2011, Pages 292~300
DOI : 10.7746/jkros.2011.6.3.292
Global positioning system (GPS) is widely used to measure the position of a vehicle. However, the accuracy of the GPS can be severely affected by surrounding environmental conditions. To deal with this problem, the GPS and odometry data can be combined using an extended Kalman filter. For stable navigation of an outdoor mobile robot using the GPS, this paper proposes two methods to evaluate the reliability of the GPS data. The first method is to calculate the standard deviation of the GPS data and reflect it to deal with the uncertainty of the GPS data. The second method is to match the GPS data to the traversability map which can be obtained by classifying outdoor terrain data. By matching of the GPS data with the traversability map, we can determine whether to use the GPS data or not. The experimental results show that the proposed methods can enhance the performance of the GPS-based outdoor localization.