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http://dx.doi.org/10.7471/ikeee.2014.18.4.636

IoT Based Intelligent Position and Posture Control of Home Wellness Robots  

Lee, Byoungsu (Dept. of Electronic and Information Engineering, Soonchunhyang University)
Hyun, Chang-Ho (Dept. of Electronic and Information Engineering, Soonchunhyang University)
Kim, Seungwoo (Dept. of Electronic and Information Engineering, Soonchunhyang University)
Publication Information
Journal of IKEEE / v.18, no.4, 2014 , pp. 636-644 More about this Journal
Abstract
This paper is to technically implement the sensing platform for Home-Wellness Robot. First, self-localization technique is based on a smart home and object in a home environment, and IOT(Internet of Thing) between Home Wellness Robots. RF tag is set in a smart home and the absolute coordinate information is acquired by a object included RF reader. Then bluetooth communication between object and home wellness robot provides the absolute coordinate information to home wellness robot. After that, the relative coordinate of home wellness robot is found and self-localization through a stereo camera in a home wellness robot. Second, this paper proposed fuzzy control methode based on a vision sensor for approach object of home wellness robot. Based on a stereo camera equipped with face of home wellness robot, depth information to the object is extracted. Then figure out the angle difference between the object and home wellness robot by calculating a warped angle based on the center of the image. The obtained information is written Look-Up table and makes the attitude control for approaching object. Through the experimental with home wellness robot and the smart home environment, confirm performance about the proposed self-localization and posture control method respectively.
Keywords
Home Wellness Robot; Self-localization; Triangulation; Posture control; Fuzzy control;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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