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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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The Korea Robotics Society
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Volume & Issues
Volume 8, Issue 4 - Nov 2013
Volume 8, Issue 3 - Aug 2013
Volume 8, Issue 2 - May 2013
Volume 8, Issue 1 - Feb 2013
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Primitive Body Model Encoding and Selective / Asynchronous Input-Parallel State Machine for Body Gesture Recognition
Kim, Juchang ; Park, Jeong-Woo ; Kim, Woo-Hyun ; Lee, Won-Hyong ; Chung, Myung-Jin ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 1~7
DOI : 10.7746/jkros.2013.8.1.001
Body gesture Recognition has been one of the interested research field for Human-Robot Interaction(HRI). Most of the conventional body gesture recognition algorithms used Hidden Markov Model(HMM) for modeling gestures which have spatio-temporal variabilities. However, HMM-based algorithms have difficulties excluding meaningless gestures. Besides, it is necessary for conventional body gesture recognition algorithms to perform gesture segmentation first, then sends the extracted gesture to the HMM for gesture recognition. This separated system causes time delay between two continuing gestures to be recognized, and it makes the system inappropriate for continuous gesture recognition. To overcome these two limitations, this paper suggests primitive body model encoding, which performs spatio/temporal quantization of motions from human body model and encodes them into predefined primitive codes for each link of a body model, and Selective/Asynchronous Input-Parallel State machine(SAI-PSM) for multiple-simultaneous gesture recognition. The experimental results showed that the proposed gesture recognition system using primitive body model encoding and SAI-PSM can exclude meaningless gestures well from the continuous body model data, while performing multiple-simultaneous gesture recognition without losing recognition rates compared to the previous HMM-based work.
Design of an 1 DOF Assistive Knee Joint for a Gait Rehabilitation Robot
Lee, Sanghyeop ; Shin, Sung Yul ; Lee, Jun Won ; Kim, Changhwan ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 8~19
DOI : 10.7746/jkros.2013.8.1.008
One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.
Imitation Learning of Bimanual Manipulation Skills Considering Both Position and Force Trajectory
Kwon, Woo Young ; Ha, Daegeun ; Suh, Il Hong ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 20~28
DOI : 10.7746/jkros.2013.8.1.020
Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.
Sensitivity Optimization of MEMS Gyroscope for Magnet-gyro Guidance System
Lee, Inseong ; Kim, Jaeyong ; Jung, Eunkook ; Jung, Kyunghoon ; Kim, Jungmin ; Kim, Sungshin ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 29~36
DOI : 10.7746/jkros.2013.8.1.029
This paper presents a sensitivity optimization of a MEMS (microelectromechanical systems) gyroscope for a magnet-gyro system. The magnet-gyro system, which is a guidance system for a AGV (automatic or automated guided vehicle), uses a magnet positioning system and a yaw gyroscope. The magnet positioning system measures magnetism of a cylindrical magnet embedded on the floor, and AGV is guided by the motion direction angle calculated with the measured magnetism. If the magnet positioning system does not measure the magnetism, the AGV is guided by using angular velocity measured with the gyroscope. The gyroscope used for the magnet-gyro system is usually MEMS type. Because the MEMS gyroscope is made from the process technology in semiconductor device fabrication, it has small size, low-power and low price. However, the MEMS gyroscope has drift phenomenon caused by noise and calculation error. Precision ADC (analog to digital converter) and accurate sensitivity are needed to minimize the drift phenomenon. Therefore, this paper proposes the method of the sensitivity optimization of the MEMS gyroscope using DEAS (dynamic encoding algorithm for searches). For experiment, we used the AGV mounted with a laser navigation system which is able to measure accurate position of the AGV and compared result by the sensitivity value calculated by the proposed method with result by the sensitivity in specification of the MEMS gyroscope. In experimental results, we verified that the sensitivity value through the proposed method can calculate more accurate motion direction angle of the AGV.
Localization and Autonomous Control of PETASUS System II for Manipulation in Structured Environment
Han, Jonghui ; Ok, Jinsung ; Chung, Wan Kyun ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 37~42
DOI : 10.7746/jkros.2013.8.1.037
In this paper, a localization algorithm and an autonomous controller for PETASUS system II which is an underwater vehicle-manipulator system, are proposed. To estimate its position and to identify manipulation targets in a structured environment, a multi-rate extended Kalman filter is developed, where map information and data from inertial sensors, sonar sensors, and vision sensors are used. In addition, a three layered control structure is proposed as a controller for autonomy. By this controller, PETASUS system II is able to generate waypoints and make decisions on its own behaviors. Experiment results are provided for verifying proposed algorithms.
Path Planning for the Shortest Driving Time Considering UGV Driving Characteristic and Driving Time and Its Driving Algorithm
Noh, Chi-Beom ; Kim, Min-Ho ; Lee, Min-Cheol ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 43~50
DOI : 10.7746/jkros.2013.8.1.043
algorithm is a global path generation algorithm, and typically create a path using only the distance information. Therefore along the path, a moving vehicle is usually not be considered by driving characteristics. Deceleration at the corner is one of the driving characteristics of the vehicle. In this paper, considering this characteristic, a new evaluation function based path algorithm is proposed to decrease the number of driving path corner, in order to reduce the driving cost, such as driving time, fuel consumption and so on. Also the potential field method is applied for driving of UGV, which is robust against static and dynamic obstacle environment during following the generated path of the mobile robot under. The driving time and path following test was occurred by experiments based on a pseudo UGV, mobile robot in downscaled UGV's maximum and driving speed in corner. The experiment results were confirmed that the driving time by the proposed algorithm was decreased comparing with the results from
Design and Implementation of Unmanned Surface Vehicle JEROS for Jellyfish Removal
Kim, Donghoon ; Shin, Jae-Uk ; Kim, Hyongjin ; Kim, Hanguen ; Lee, Donghwa ; Lee, Seung-Mok ; Myung, Hyun ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 51~57
DOI : 10.7746/jkros.2013.8.1.051
Recently, the number of jellyfish has been rapidly grown because of the global warming, the increase of marine structures, pollution, and etc. The increased jellyfish is a threat to the marine ecosystem and induces a huge damage to fishery industries, seaside power plants, and beach industries. To overcome this problem, a manual jellyfish dissecting device and pump system for jellyfish removal have been developed by researchers. However, the systems need too many human operators and their benefit to cost is not so good. Thus, in this paper, the design, implementation, and experiments of autonomous jellyfish removal robot system, named JEROS, have been presented. The JEROS consists of an unmanned surface vehicle (USV), a device for jellyfish removal, an electrical control system, an autonomous navigation system, and a vision-based jellyfish detection system. The USV was designed as a twin hull-type ship, and a jellyfish removal device consists of a net for gathering jellyfish and a blades-equipped propeller for dissecting jellyfish. The autonomous navigation system starts by generating an efficient path for jellyfish removal when the location of jellyfish is received from a remote server or recognized by a vision system. The location of JEROS is estimated by IMU (Inertial Measurement Unit) and GPS, and jellyfish is eliminated while tracking the path. The performance of the vision-based jellyfish recognition, navigation, and jellyfish removal was demonstrated through field tests in the Masan and Jindong harbors in the southern coast of Korea.
The Effect of Robots in Education based on STEAM
Cho, Seong-Hwan ;
The Journal of Korea Robotics Society, volume 8, issue 1, 2013, Pages 58~65
DOI : 10.7746/jkros.2013.8.1.058
The purpose of this paper is to improve scientific attitude and interest of the elementary school students by using STEAM-based robots in education. In this work, we analyzed PDIE model that describes methodology for generating STEAM integrated education materials and then we also developed teaching materials utilizing STEAM-based robots. The effect of the STEM-based robots in education was analyzed through a test class which demonstrated the robots indeed help improving scientific attitude and interest of students. During the class, individual knowledge and experience of the students were integrated into the STEAM-based robots which then provide customized help for each student so that they have better understanding and interest in science, technology, and engineering field.