• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.725-735
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• 2006

This paper deals with the problem of self-learning cooperative motion control for the pushing task of a humanoid robot in the sagittal plane. A model with 27 linked rigid bodies is developed to simulate the system dynamics. A simple genetic algorithm(SGA) is used to find the cooperative motion, which is to minimize the total energy consumption for the entire humanoid robot body. And the multi-layer neural network based on backpropagation(BP) is also constructed and applied to generalize parameters, which are obtained from the optimization procedure by SGA, in order to control the system.

• International Journal of Contents
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• v.7 no.4
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• pp.10-18
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• 2011

Cooperative Group Games (CGG) emphasize participation, challenges and fun by cooperation among group members rather than competition. CGGs have been proven to be an efficient education method that teaches the value of cultivating cooperation skills, discipline, and sense of public order for tackling problems together through various types of interactions. When integrated with computer game technology, the general classic CGG can be reborn with new educational and entertaining aspects. To combine the joy of physical movement of group games and the richness of computer game contents, a motion based arcade CGG has been developed in this study, based on the original ideas and structures of classic off-line CGGs. While implementing the classic game concepts in arcade environment, various design attributes have been considered and applied, which were supposed to promote cooperative game play. Overall, the process of the implementation and test results of our four CGGs suggest several design strategies for effective arcade CGGs.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.468-472
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• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.37-38
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• 2010

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1029-1037
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• 2008

When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque far all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.396-399
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• 2018

In this paper, we propose a motion recognition system for identification and interaction with simulator used in the realistic biathlon simulator. The proposed system tried to improve the motions data which is obstructed by the obstacles or overlapping joints and the motion due to the fast motion in the process of recognizing the various motion patterns in the biathlon. In this paper, we constructed a multi-camera motion recognition system based on IoT devices, and then we applied a skeletal area interpolation method for normal motion identification. We designed a system that can increase the recognition rate of motion from the biathlon. The proposed system can be applied to the analysis of snow sports motion and it will be used to develop realistic biathlon simulator system.

• Journal of The Korean Association For Science Education
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• v.19 no.2
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• pp.266-274
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• 1999

This study investigated the effects of cooperative and individual computer-assisted instructions upon middle school students' science conceptions, achievement, perception of learning environment, and motivation. The cooperative, individual, and traditional learning groups were selected from a middle school, and taught about the motion of molecule for 5 class hours. Data analyses indicated that the students with cooperative computer-assisted instruction scored significantly higher than those with traditional instruction in the tests of conceptual understanding, perception of learning environment and motivation. Better understanding of the cooperative learning group was also found in a retention test of conceptions. In addition, there were significant interactions between the instruction and the level of prior achievement in the tests of retention of conceptions and motivation. Educational implications are discussed.