간행물
로봇학회논문지 KCI 등재 The Journal of Korea Robotics Society
- 발행기관 한국로봇학회
- 자료유형 학술지
- 간기 계간
- ISSN 1975-6291 (Print)2287-3961 (Online)
- 수록기간 2006 ~ 2020
- 주제분류 공학 > 제어계측공학 공학 분류의 다른 간행물
- 십진분류KDC 559DDC 629
권호리스트/논문검색
제2권 제4호 (2007년 12월) 10건
1.
2007.12
서비스 종료(열람 제한)
The docking and recharging system for a mobile robot must guarantee the ability of the mobile robot to perform its tasks continuously without human intervention. In this paper, two docking mechanisms are proposed with localization error-compensation capability for the auto recharging system. Friction forces or magnetic forces are used between the docking parts of the docking module and those of the docking station. In addition, an auto recharging system is developed to control the power. Since the system is modularized, it can easily be adapted to other robots.
2.
2007.12
서비스 종료(열람 제한)
In this paper, we discuss a service to give alarm in the case of emergency for the old and the weak by human behavior recognition in Intelligent Space. Our Intelligent Space consists of mobile robots, sensors and agents. Agent analyzes data acquired from networked devices and determines tasks of robot and space to provide a service for humans. In our emergency alarm service, human behavior recognition service module analyzes accelerometer data obtained from body-attached human behavior sensing platform, and classifies into four basic human behavior such as "walking", "running", "sitting" and "falling-down". For the old and the weak, "falling-down" behavior may bring about dangerous situations. On such an occasion, emergency alarm service is executed automatically and a selected mobile robot approaches fallen person quickly and then send images of the person to guardians. In this paper, we set up a scenario to verify the emergency alarm service in Intelligent Space, and show feasibility of the service from our simulation experiments.
3.
2007.12
서비스 종료(열람 제한)
This paper describes an efficient path generation method for area coverage. Its applications include robots for de-mining, cleaning, painting, and so on. Our method is basically based on a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. Each cell is covered by a robot motion that requires minimum time to cover the cell. Using this method, completeness and time efficiency of coverage are easily achieved. For the completeness of coverage in dynamic environments, we also propose a path following method that makes the robot cover missed areas as a result of the presence of unknown obstacles. The effectiveness of the method is verified using computer simulations.
4.
2007.12
서비스 종료(열람 제한)
The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.
5.
2007.12
서비스 종료(열람 제한)
Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.
6.
2007.12
서비스 종료(열람 제한)
We propose a navigation algorithm using image-based visual servoing utilizing a fixed camera. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the image error between the goal position and the position of a mobile robot. The residual function which is the image error between the position of a mobile robot and the goal position is generally large for this navigation problem. So, this navigation problem can be considered as the nonlinear least squares problem for the large residual case. For large residual, we propose a method to find the second-order term using the secant approximation method. The performance was evaluated using the simulation.
7.
2007.12
서비스 종료(열람 제한)
This paper introduces a prototype smart home environment that is built in the research building to demonstrate the feasibility of a robot-assisted future home environment. Localization, navigation, object recognition and handling are core functionalities that an intelligent service robot should provide. A huge amount of research effort has been made to make the service robot perform these functions with its own sensors, actuators and a knowledge base. With all complicated configuration of sensors, actuators and a database, the robot could only perform the given tasks in a predefined environment or show the limited capabilities in a natural environment. We started a smart home environment for service robots for simple service robots to provide reliable services by communicating with the environment through the wireless sensor networks. In this paper, we introduce various types of smart devices that are developed for assisting the robot in the environment by providing sensor and actuator capabilities. In addition, we present how the devices are integrated to constitute the smart home environment for service robots.
8.
2007.12
서비스 종료(열람 제한)
This paper proposes an emotional interaction model between human and robot using an android. An android is a sort of humanoid robot that the outward shape of robot is almost the same as that of human. The android is a robot platform to implement and test emotional expressions and human interaction. In order to behave for the android like human, a structure of internal emotion system is very important. In our research, we propose a novel emotional model of android based on biological hormone and emotion space. Proposed emotion model has an advantage that it can represent emotion change as time by hormone dynamics.
9.
2007.12
서비스 종료(열람 제한)
As the new industry of this 21centuries, theme park is the important position to the front leader countries as a new growth engine due to its industrial-economical and cultural-social effect. While domestic theme park industries show lower competitive position with global theme park in aspect of management and qualities and have weak brand power. The global situation of present service robot industry of the world is the beginning stage and the time for strengthening competitive position and the best opportunity becoming global leader of world markets by prior occupation through provision of factitious market creating big demand. Robot theme park is possibile to provide such big demand of various robot and this paper present of ideas for robot theme park.
10.
2007.12
서비스 종료(열람 제한)
This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.
