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
제3권 제1호 (2008년 3월) 10건
1.
2008.03
서비스 종료(열람 제한)
Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space(C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. the proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can beeasily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.
2.
2008.03
서비스 종료(열람 제한)
Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulator's human's superior motor skills in contact tacks.This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG)signals and limb position measurements. The EMG signal is the summation of MUAPs(motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN)model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.
3.
2008.03
서비스 종료(열람 제한)
Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.
4.
2008.03
서비스 종료(열람 제한)
This paper presents a task planning system for a steward robot, which has been developed as an interactive intermediate agent between an end-user and a complex smart home environment called the ISH(Intelligent Sweet Home) at KAIST(Korea Advanced Institute of Science and Technology). The ISH is a large-scale robotic environment with various assistive robots and home appliances for independent living of the elderly and the people with disabilities. In particular, as an approach for achieving human-friendly human-robot interaction, we aim at 'simplification of task commands' by the user. In this sense, a task planning system has been proposed to generate a sequence of actions effectively for coordinating subtasks of the target subsystems from the given high-level task command. Basically, the task planning i s performed under the framework of STRIPS(Standard Research Institute Problem Solver) representation and the split planning method. In addition, we applied a state-partitioning technique to the backward split planning method to reduce computational time. By analyzing the obtained graph, the planning system decomposes an original planning problem into several independent sub-problems, and then, the planning system generates a proper sequence of actions. To show the effectiveness of the proposed system, we deal with a scenario of a planning problem in the ISH.
5.
2008.03
서비스 종료(열람 제한)
Based on object recognition technology, we present a new global localization method for robot navigation. For doing this, we model any indoor environment using the following visual cues with a stereo camera; view-based image features for object recognition and those 3D positions for object pose estimation. Also, we use the depth information at the horizontal centerline in image where optical axis passes through, which is similar to the data of the 2D laser range finder. Therefore, we can build a hybrid local node for a topological map that is composed of an indoor environment metric map and an object location map. Based on such modeling, we suggest a coarse-to-fine strategy for estimating the global localization of a mobile robot. The coarse pose is obtained by means of object recognition and SVD based least-squares fitting, and then its refined pose is estimated with a particle filtering algorithm. With real experiments, we show that the proposed method can be an effective vision-based global localization algorithm.
6.
2008.03
서비스 종료(열람 제한)
Robots need to understand as much as possible about their environmental situation and react appropriately to any event that provokes changes in their behavior. In this paper, we pay attention to topological relations between spatial objects and propose a model of robotic cognition that represents and infers temporal relations. Specifically, the proposed model extracts specified features of the co-occurrence matrix represents from disparity images of the stereo vision system. More importantly, a habituation model is used to infer intrinsic spatial relations between objects. A preliminary experimental investigation is carried out to verify the validity of the proposed method under real test condition.
7.
2008.03
서비스 종료(열람 제한)
A completely new flying machine is developed and the details for practical iplementation is suggested. The proposed machine contains no moving parts so that it can be operated in noiseless manner. This paper presents some operational principles of the flying machine as well as the overall process of designing the basic ionic flyer model. The validation of the model is checked by experiments of test flights. Also, two conceptual design results for practical implementation are introdiced with the derivation of design parameters. The application field is expected to include indoor secrete surveillance as well as ion propulsion.
8.
2008.03
서비스 종료(열람 제한)
This study developed a novel augmented reality interface for minimally invasive surgery. The augmented reality technique can alleviate the sensory feedback problem inherent to laparoscopic surgery. An augmented reality system merges real laparoscope image and reconstructed 3D patient model based on diagnostic medical image such as CT, MRI data. By using reconstructed 3D patient model, AR interface could express structure of patient body that is invisible outside visual field of laparoscope. Therefore, an augmented reality system improved sight information of limited laparoscope. In our augmented reality system, the laparoscopic view is located at the center of a wide-angle concave screen and reconstructed 3D patient model is displayed outside the laparoscope. By using a joystick, the laparoscopic view and the reconstructed 3D patient model view are changed concurrently. With our augmented reality system, the surgeon can see the peritoneal cavity from a wide angle of view, without having to move the laparoscope. Since the concave screen serves immersive environments, the surgeon can feel as if she is in the patient body. For these reasons, a surgeon can recognize easily depth information about inner parts of patient and position information of surgical instruments without laparoscope motion. It is possible for surgeon to manipulate surgical instruments more exact and fast. Therefore immersive augmented reality interface for minimally invasive surgery will reduce bodily, environmental load of a surgeon and increase efficiency of MIS.
9.
2008.03
서비스 종료(열람 제한)
Combining robot and network gives us many advantages like lightweight hardware specification of robot, a various robot service, simple upgrade of robot, easy management and so on. Among these advantages, Presence service and openAPI are most important. Presence is simple but powerful service. It makes user to know the status information of robot and enables user to control robot from a remote place. OpenAPI which is also a feature of WEB2.0 enables 3rd parties to make a various mashup service easily and rapidly. Finally presence and openAPI can help URC service to be ubiquitous and successful.
10.
2008.03
서비스 종료(열람 제한)
Abstract Many researchers are studying on humanoid robots in all over the world. However the humanoid robots are still limited in doing works like picking up objects on the ground or moving rapidly. In this study, a humanoid robot based on the wheel-driving was developed. It can operate with a human working area keeping the stability. Also, the developed robot can take up the object on the floor since it has knee(1DoF) and waist(3DoF), and do service quickly and steadily. The hardware and software structure and algorithms of the developed robot, SEROPI are introduced in this paper.
