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
제8권 2호 (2013년 5월) 8건
1.
2013.05
서비스 종료(열람 제한)
This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.
2.
2013.05
서비스 종료(열람 제한)
This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels’ contact to the ground during high acceleration, and localization for the real time position control.
3.
2013.05
서비스 종료(열람 제한)
This paper proposes a building recognition algorithm using watershed image segmentation algorithm and integrated region matching (IRM). To recognize a building, a preprocessing algorithm which is using Gaussian filter to remove noise and using canny edge extraction algorithm to extract edges is applied to input building image. First, images are segmented by watershed algorithm. Next, a region adjacency graph (RAG) based on the information of segmented regions is created. And then similar and small regions are merged. Second, a color distribution feature of each region is extracted. Finally, similar building images are obtained and ranked. The building recognition algorithm was evaluated by experiment. It is verified that the result from the proposed method is superior to color histogram matching based results.
4.
2013.05
서비스 종료(열람 제한)
Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator’s rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP’s position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.
5.
2013.05
서비스 종료(열람 제한)
For natural human-robot interaction, we need to know location and shape of facial feature in real environment. In order to track facial feature robustly, we can use the method combining particle filter and active appearance model. However, processing speed of this method is too slow. In this paper, we propose two ideas to improve efficiency of this method. The first idea is changing the number of particles situationally. And the second idea is switching the prediction model situationally. Experimental results is presented to show that the proposed method is about three times faster than the method combining particle filter and active appearance model, whereas the performance of the proposed method is maintained.
6.
2013.05
서비스 종료(열람 제한)
This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains.
7.
2013.05
서비스 종료(열람 제한)
In this paper, a high precision outdoor positioning system is newly proposed using multiple GPS receivers based on the Extended Kalman Filter (EKF). Typically, the GPS signal has the instantaneous errors that degrade the positioning seriously. Using the multiple GPS receivers instead of an expensive DGPS receiver, the positioning reliability and accuracy are improved in this research as a low cost solution. To incorporate the small displacement, an INS data have been tightly coupled to the GPS data, which has the inherit disadvantage of the cumulative error occurring over time. To achieve a stabilized and accurate positioning system, the multiple GPS receiver data are fused with the INS data through the EKF process. Through real navigation experiments of an outdoor mobile robot, the performance of the proposed system has been verified to be accurate comparable to DGPS system with a lower cost.
8.
2013.05
서비스 종료(열람 제한)
In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin’, an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, ‘torque reversal mechanism’. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea’s muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.
