한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제26권1호
  • /
  • Pages.20-29
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  • 2017
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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가상로봇과 실제로봇 사이의 운동 동기화를 통한 물체 인식 및 목표물 추적방안

Object Recognition and Target Tracking Using Motion Synchronization between Virtual and Real Robots

  • Ahn, Hyeo Gyeong (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kang, Hyeon Jun (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jin Beom (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Jung, Ji Won (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Ok, Seo Won (Department of Mechanical Design and Robot Engineering, Graduate School, Seoul National University of Science and Technology) ;
  • Kim, Dong Hwan (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • 투고 : 2016.09.23
  • 심사 : 2017.01.05
  • 발행 : 2017.02.15
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초록

Motion synchronization between developed real and virtual robots for object recognition and target tracking is introduced. ASUS's XTION PRO Live is implemented as a sensor and configured to recognize walls and obstacles, and perceive objects. In order to create virtual reality, Unity 3D is adopted to be associated with the real robot, and the virtual object is controlled by using an input device. A Bluetooth serial communication module is used for wireless communication between the PC and the real robot. The motion information of a virtual object controlled by the user is sent to the robot. Then, the robot moves in the same way as the virtual object according to the motion information. Through motion synchronization, two scenarios, which map the real space and current object information with virtual objects and space, were demonstrated, yielding good agreement between the two spaces.

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참고문헌

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