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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 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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Development of a Omni-directional Self-Balancing Robot Wheelchair
Yu, Jaerim ; Park, Yunsu ; Kim, Sangtae ; Kwon, SangJoo ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 229~237
DOI : 10.7746/jkros.2013.8.4.229
In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.
Human Detection in the Images of a Single Camera for a Corridor Navigation Robot
Kim, Jeongdae ; Do, Yongtae ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 238~246
DOI : 10.7746/jkros.2013.8.4.238
In this paper, a robot vision technique is presented to detect obstacles, particularly approaching humans, in the images acquired by a mobile robot that autonomously navigates in a narrow building corridor. A single low-cost color camera is attached to the robot, and a trapezoidal area is set as a region of interest (ROI) in front of the robot in the camera image. The lower parts of a human such as feet and legs are first detected in the ROI from their appearances in real time as the distance between the robot and the human becomes smaller. Then, the human detection is confirmed by detecting his/her face within a small search region specified above the part detected in the trapezoidal ROI. To increase the credibility of detection, a final decision about human detection is made when a face is detected in two consecutive image frames. We tested the proposed method using images of various people in corridor scenes, and could get promising results. This method can be used for a vision-guided mobile robot to make a detour for avoiding collision with a human during its indoor navigation.
Development of a Snake Robot for Unstructured Environment
Shin, Hocheol ; Kim, Chang-Hoi ; Lee, Heung-Ho ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 247~255
DOI : 10.7746/jkros.2013.8.4.247
This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by
with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.
Local Map-based Exploration Strategy for Mobile Robots
Ryu, Hyejeong ; Chung, Wan Kyun ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 256~265
DOI : 10.7746/jkros.2013.8.4.256
A local map-based exploration algorithm for mobile robots is presented. Segmented frontiers and their relative transformations constitute a tree structure. By the proposed efficient frontier segmentation and a local map management method, a robot can reduce the unknown area and update the local grid map which is assigned to each frontier node. Although this local map-based exploration method uses only local maps and their adjacent node information, mapping completion and efficiency can be greatly improved by merging and updating the frontier nodes. Also, we suggest appropriate graph search exploration methods for corridor and hall environments. The simulation demonstrates that the entire environment can be represented by well-distributed frontier nodes.
Robust Real-time Tracking of Facial Features with Application to Emotion Recognition
Ahn, Byungtae ; Kim, Eung-Hee ; Sohn, Jin-Hun ; Kweon, In So ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 266~272
DOI : 10.7746/jkros.2013.8.4.266
Facial feature extraction and tracking are essential steps in human-robot-interaction (HRI) field such as face recognition, gaze estimation, and emotion recognition. Active shape model (ASM) is one of the successful generative models that extract the facial features. However, applying only ASM is not adequate for modeling a face in actual applications, because positions of facial features are unstably extracted due to limitation of the number of iterations in the ASM fitting algorithm. The unaccurate positions of facial features decrease the performance of the emotion recognition. In this paper, we propose real-time facial feature extraction and tracking framework using ASM and LK optical flow for emotion recognition. LK optical flow is desirable to estimate time-varying geometric parameters in sequential face images. In addition, we introduce a straightforward method to avoid tracking failure caused by partial occlusions that can be a serious problem for tracking based algorithm. Emotion recognition experiments with k-NN and SVM classifier shows over 95% classification accuracy for three emotions: "joy", "anger", and "disgust".
Effect of Robot-Assisted Hand Rehabilitation on Hand Function in Chronic Stroke Patients
Park, Jin-Hyuck ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 273~282
DOI : 10.7746/jkros.2013.8.4.273
The purpose of this study was to investigate effect of robot-assisted hand rehabilitation(Amadeo(R)) on hand motor function in chronic stroke patients. This study used a single-subject experimental design with multiple baselines across individuals. Three chronic stroke survivors with mild to sever motor impairment took part in study. Each participants had 2 weeks interval of starting intervention. Participants received robot-assisted therapy(45min/session. 3session/wk for 6wks). Finger active range of motion(AROM) was assessed by Range of Assessment program in Amadeo(R), and test-retest reliability was verified using Pearson correlation analysis. To investigate effect of Amadeo(R), finger AROM was measured immediately after each sessions and Fugl-Meyer Assessment of Upper extremity, Motor Activity Log, Nine hole peg board test and Jebsen-Taylor hand motor function test were assessed at pre-post intervention. Results were analyzed by visual analysis and comparison of pre-post tests. The test-retest reliability of Range of Assessment was good(r
Real-time Recognition of the Terrain Configuration to Increase Driving Stability for Unmanned Robots
Jeon, Bongsoo ; Kim, Jayoung ; Lee, Jihong ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 283~291
DOI : 10.7746/jkros.2013.8.4.283
Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor(exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Thereby, UGVs have some difficulties regarding to finding optimal driving conditions for maximum maneuverability. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit(IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.
Kinematic Modeling for Autonomous Bicycle Using Differential Motion Transformation
Yi, Soo-Yeong ;
The Journal of Korea Robotics Society, volume 8, issue 4, 2013, Pages 292~297
DOI : 10.7746/jkros.2013.8.4.292
This paper presents a new method of kinematic modeling for autonomous bicycle by using the differential motion transformation. Kinematic model is indispensable to trajectory planning and control for an autonomous mobile robot. The conventional methods of kinematic modeling for an autonomous bicycle depend on intuition by geometry. On the contrary, the proposed method in this paper is based on the systematic differential motion transformation, thus applicable to various types of autonomous bicycles. The differential motion transformation gives Jacobian between two coordinate frames and the velocity kinematics as a result.