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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 9, Issue 4 - Nov 2014
Volume 9, Issue 3 - Aug 2014
Volume 9, Issue 2 - May 2014
Volume 9, Issue 1 - Feb 2014
Selecting the target year
Wearable and Motorized Crutch Control System
Yoon, Dukchan ; Jang, Giho ; Choi, Youngjin ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 133~139
DOI : 10.7746/jkros.2014.9.3.133
This paper proposes a wearable and motorized crutch control system for the patients using the conventional crutches. The conventional crutches have a few disadvantages such as the inconvenience caused by the direct contact between the ground and the armpit of the patients, and unstable gait patterns. In order to resolve these problems, the motorized crutch is designed as a wearable type on an injured lower limb. In other words, the crutch makes the lower limb to be moved forward while supporting the body weight, protecting the lower limb with frames, and rotating a roller equipped on the bottom of the frames. Also the crutch is controlled using the electromyography and two force sensing resistor (FSR) sensors. The electromyography is used to extract the walking intention from the patient and the FSR sensors to classify the stance and swing phases while walking. As a result, the developed crutch makes the patients walk enabling both hands to be free, as if normal people do.
Development of a Dual-Arm Drawing Robot using Line Segment Approximation of Image Edges
Kim, Jung-Kyu ; Lee, Sang-Pil ; Jung, Hye-Lim ; Cho, Hye-Kyung ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 140~146
DOI : 10.7746/jkros.2014.9.3.140
This paper introduces a dual-arm robot painter system which is capable of sketching a camera-captured image with short line segments. To express various curved edges in the image by combining line segments, we first apply edge detection algorithm to the entire image, split the edged image into small boxed pieces, and then apply Hough Transformation to each piece so that the edges inside the piece can be approximated with short line segments. To draw the picture within a reasonable time, we designed a simple dual-arm robot system and controlled both arms concurrently according to linear interpolation algorithm. From the experiments, we could verify that simple linear motions can describe various images effectively with a unique brush style.
Guidance Line Extraction for Autonomous Weeding robot based-on Rice Morphology Characteristic in Wet Paddy
Choi, Keun Ha ; Han, Sang Kwon ; Han, Sang Hoon ; Park, Kwang-Ho ; Kim, Kyung-Soo ; Kim, Soohyun ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 147~153
DOI : 10.7746/jkros.2014.9.3.147
In this paper, we proposed a new algorithm of the guidance line extraction for autonomous weeding robot based on infrared vision sensor in wet paddy. It is the critical process for guidance line extraction which finds the central point or area of rice row. In order to improve accuracy of the guidance line, we are trying to use the morphological characteristics of rice that the direction of rice leaves have convergence to central area of rice row. Using Hough transform, we were represented the curved leaves as a combination of segmented straight lines on binary image that has been skeletonized and segmented object. A slope of the guidance line was gotten as calculate the average slope of all segmented lines. An initial point of the guidance line was determined that is the maximum pixel value of the accumulated white columns of a binary image which is rotated the slope of guidance line in the opposite direction. We also have verified an accuracy of the proposed algorithm by experiments in the real wet paddy.
3-D Indoor Navigation and Autonomous Flight of a Micro Aerial Vehicle using a Low-cost LIDAR
Huh, Sungsik ; Cho, Sungwook ; Shim, David Hyunchul ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 154~159
DOI : 10.7746/jkros.2014.9.3.154
The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.
Design of Experimental Test Tracks for Odometry Calibration of Wheeled Mobile Robots
Jung, Changbae ; Moon, Changbae ; Jung, Daun ; Chung, Woojin ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 160~169
DOI : 10.7746/jkros.2014.9.3.160
Odometry using wheel encoder is a common relative positioning technique for wheeled mobile robots. The major drawback of odometry is that the kinematic modeling errors are accumulated when the travel distance increases. Therefore, accurate calibration of odometry is required. In several related works, various schemes for odometry calibration are proposed. However, design guidelines of test tracks for odometry calibration were not considered. More accurate odometry calibration results can be achieved by using appropriate test track because the position and orientation errors after the test are affected by the test track. In this paper, we propose the design guidelines of test tracks for odometry calibration schemes using experimental heading errors. Numerical simulations and experiments clearly demonstrate that the proposed design guidelines result in more accurate calibration results.
Global Localization Based on Ceiling Image Map
Heo, Hwan ; Song, Jae-Bok ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 170~177
DOI : 10.7746/jkros.2014.9.3.170
This paper proposes a novel upward-looking camera-based global localization using a ceiling image map. The ceiling images obtained through the SLAM process are integrated into the ceiling image map using a particle filter. Global localization is performed by matching the ceiling image map with the current ceiling image using SURF keypoint correspondences. The robot pose is then estimated by the coordinate transformation from the ceiling image map to the global coordinate system. A series of experiments show that the proposed method is robust in real environments.
Generalized Graph Representation of Tendon Driven Robot Mechanism
Cho, Youngsu ; Cheong, Joono ; Kim, Doohyung ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 178~184
DOI : 10.7746/jkros.2014.9.3.178
Tendon driven robot mechanisms have many advantages such as allowing miniaturization and light-weight designs and/or enhancing flexibility in the design of structures. When designing or analyzing tendon driven mechanisms, it is important to determine how the tendons should be connected and whether the designed mechanism is easily controllable. Graph representation is useful to view and analyze such tendon driven mechanisms that are complicatedly interconnected between mechanical elements. In this paper, we propose a method of generalized graph representation that provides us with an intuitive analysis tool not only for tendon driven manipulators, but also various other kinds of mechanical systems which are combined with tendons. This method leads us to easily obtain structure matrix - which is the one of the most important steps in analyzing tendon driven mechanisms.
Teachers and Students' Recognition about Learning with a Humanoid Robot in Elementary School
Kim, Young Ae ; Chae, Kyoung Hwa ; Sohn, Yeung-Jun ; Yang, Jae-Myung ; Koo, Chan Dong ;
The Journal of Korea Robotics Society, volume 9, issue 3, 2014, Pages 185~195
DOI : 10.7746/jkros.2014.9.3.185
This study aims to look into students' and teachers' recognition about learning with a humanoid robot and seek for a policy implication for the direction of education using humanoid robot. To achieve this goal, a survey with elementary school students and teachers was used as the method of analysis. The main results are as follows: There was a difference in the recognition of the teachers and the students regarding the most effective subject through the use of humanoid robot. While the students consider Physical Education as the major subject, the teachers consider Science as the one. The students recognize that the use of humanoid is most effective in helping their learning while the teachers recognize that it is most effective in helping their teaching. As an expected positive effect, both of them choose an increase in interest in learning as the main effect of the use of humanoid robot, but the students, unlike the teachers, consider the improvement of their academic achievement as its main effect as well. These results show differences in the recognition of the use of humanoid between the teachers and the students, and in addition, confirm the difference between them depending on their background.