• Title, Summary, Keyword: Robot manipulation

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Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

  • Ha, Jong-Eun;Lee, Wang-Heon
    • Journal of Electrical Engineering and Technology
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    • v.9 no.6
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    • pp.2162-2167
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    • 2014
  • Robots are widely used in various automation processes in industrial applications. Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.

Implementation of End-to-End Training of Deep Visuomotor Policies for Manipulation of a Robotic Arm of Baxter Research Robot (백스터 로봇의 시각기반 로봇 팔 조작 딥러닝을 위한 강화학습 알고리즘 구현)

  • Kim, Seongun;Kim, Sol A;de Lima, Rafael;Choi, Jaesik
    • The Journal of Korea Robotics Society
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    • v.14 no.1
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    • pp.40-49
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    • 2019
  • Reinforcement learning has been applied to various problems in robotics. However, it was still hard to train complex robotic manipulation tasks since there is a few models which can be applicable to general tasks. Such general models require a lot of training episodes. In these reasons, deep neural networks which have shown to be good function approximators have not been actively used for robot manipulation task. Recently, some of these challenges are solved by a set of methods, such as Guided Policy Search, which guide or limit search directions while training of a deep neural network based policy model. These frameworks are already applied to a humanoid robot, PR2. However, in robotics, it is not trivial to adjust existing algorithms designed for one robot to another robot. In this paper, we present our implementation of Guided Policy Search to the robotic arms of the Baxter Research Robot. To meet the goals and needs of the project, we build on an existing implementation of Baxter Agent class for the Guided Policy Search algorithm code using the built-in Python interface. This work is expected to play an important role in popularizing robot manipulation reinforcement learning methods on cost-effective robot platforms.

Optimal Manipulation for a Hexapod Walking Robot (6족 보행 로봇에서의 최적 머니퓰레이션)

  • Seo, Hyeon-Se;Sung, Young Whee
    • Journal of the Institute of Convergence Signal Processing
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    • v.16 no.4
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    • pp.168-174
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    • 2015
  • The ultimate purpose of a walking robot is to move to a designated spot and to perform a necessary manipulation. To perform various manipulations for a walking robot, it should have some kind of an extra manipulator. However, if the manipulation task for the robot is simple enough, the robot can perform the task by using its legs. Among various kinds of walking robots, a hexapod walking robot has relatively many legs, so it has the advantage of stability and walking speed. So, a hexapod walking robot can perform simple manipulation task by using its one or two legs while maintaining stability by using the rest of legs. In this paper, we deal with a simple manipulation task of holding a ball. We formulate the task as a redundancy resolution problem and propose a method for obtaining an optimal solution.

A task-oriented programming system (공정 지향적인 프로그래밍 시스템)

  • 박홍석
    • Proceedings of the Korean Operations and Management Science Society Conference
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    • pp.249-252
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    • 1996
  • This paper presents an algorithmic approach used in the development of a task-level off-line programming system for the efficient applicaiton of robot. In the method, robot tasks are graphically described with manipulation functions. By applying robot language these graphic robot tasks are converted into commands for the robot. A programming example demonstrates the potentiality of task-oriented robot programming.

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The Analysis on Advancement of local Environment about Living Life by Robot Industry (로봇산업을 통한 지역의 산업 환경 개선에 대한 연구)

  • Kim, Jong-Kwon
    • Proceedings of the Safety Management and Science Conference
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    • pp.129-141
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    • 2011
  • The information technology intensive society rapidly moves from manufacturing industry to information technology industry. This paradigm of Robot is depending on intelligent Robot instead of labor. The conventional Robot worked through environmental variation and shift of job. This Robot is unactively response to men's mandate. And, this Robot have had iterative jobs through manipulation of men. But, this intelligent Robot have new technology through society paradigm shift. The outstanding feature of this Robot is perception function and cognition, mobility and manipulation. The definition of original Robot means forceful and tedious, slavery job. This is from robota, robotnick of the Czech Republic. Karel Capek, a playwriter of the Czech Republic use of this letter at 'Rossum's Universal Robots'. Conclusionally, the Chungbuk province is connected with Korea Institute for Robot Industry Advancement of Daegu and Sejong City. This affect mutual growth with local industry and advancement of environment about living life in the Chungbuk.

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Design of Non-stick Micromanipulation for Handling of Micro particle (초소형 부품 조작을 위한 Non-stick 마이크로 매니퓰레이션 시스템의 설계)

  • Ihn, Y.S.;Kim, Y.C.;Choi, H.R.;Lee, S.M.;Koo, J.C.
    • The Journal of Korea Robotics Society
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    • v.4 no.3
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    • pp.225-232
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    • 2009
  • In the high precision robot systems, the most popular tasks may be handling of micro-scale objects on a surface such as a micromanipulation robot system. In handling of micro-scale objects, the stiction effect becomes a fundamental issue since the micro-contact mechanics dominates the micromanipulation robot system. In the paper, a theoretical non-stick condition derived from the micro-contact mechanics is carried out for the propose of micro-scale object manipulation. To verify the non-stick condition, a micro-manipulation robot system equipped with a high precision stage system and a microscope system is developed. Experimental results show that the proposed non-stick condition guarantees successful micro-scale object manipulation.

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The Analysis on Establishment of National Consilience Complex in Korea (보건 및 의료분야 중심의 국가 복합과학기술타운조성 연구)

  • Kim, Jong-Kwon
    • Proceedings of the Safety Management and Science Conference
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    • pp.113-127
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    • 2011
  • The information technology intensive society rapidly moves from manufacturing industry to information technology industry. This paradigm of Robot is depending on intelligent Robot instead of labor. The conventional Robot worked through environmental variation and shift of job. This Robot is unactively response to men's mandate. And, this Robot have had iterative jobs through manipulation of men. But, this intelligent Robot have new technology through society paradigm shift. The outstanding feature of this Robot is perception function and cognition, mobility and manipulation. The definition of original Robot means forceful and tedious, slavery job. This is from robota, robotnick of the Czech Republic. Karel Capek, a playwriter of the Czech Republic use of this letter at 'Rossum's Universal Robots. The service of U-Health is the fusion of Information Technology and Medical Service. The U-Health provides for doing about household's medical behavior. Conclusionally, the Chungbuk has merit on establishment of national consilience complex such as Medical Robot and U-Health.

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The environment and growth of market in Robot Industry (지능형 로봇 산업의 시장의 성장 전망)

  • Kim, Jong-Kwon
    • Proceedings of the Safety Management and Science Conference
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    • pp.481-492
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    • 2007
  • The information technology intensive society rapidly moves from manufacturing industry to information technology industry. This paradigm of Robot is depending on intelligent Robot instead of labor. The conventional Robot worked through environmental variation and shift of job. This Robot is unactively response to men's mandate. And, this Robot have had iterative jobs through manipulation of men. But, this intelligent Robot have new technology through society paradigm shift. The outstanding feature of this Robot is perception function and cognition, mobility and manipulation. The definition of original Robot means forceful and tedious, slavery job. This is from robota, robotnick of the Czech Republic. Karel Capek, a playwriter of the Czech Republic use of this letter at 'Rossum's Universal Robots'.

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Tele-Manipulation of ROBHAZ-DT2 for Hazard Environment Applications

  • Ryu, Dong-Seok;Lee, Jong-Wha;Yoon, Seong-Sik;Kang, Sung-Chul;Song, Jae-Bok;Kim, Mun-Sang
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2051-2056
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    • 2003
  • In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

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Object Directive Manipulation Through RFID

  • Chong, Nak-Young;Tanie, Kazuo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2731-2736
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    • 2003
  • In highly informative, perception-rich environments that we call Omniscient Spaces, robots interact with physical objects which in turn afford robots the information showing how the objects should be manipulated. Object manipulation is commonly believed one of the most basic tasks in robot applications. However, no approaches including visual servoing seem satisfactory in unstructured environments such as our everyday life. Thus, in Omniscient Spaces, the features of the environments embed themselves in every entity, allowing robots to easily identify and manipulate unknown objects. To achieve this end, we propose a new paradigm of the interaction through Radio Frequency Identification (RFID). The aim of this paper is to learn about RFID and investigate how it works in object manipulation. Specifically, as an innovative trial for autonomous, real-time manipulation, a likely mobile robot equipped with an RFID system is developed. Details on the experiments are described together with some preliminary results.

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