• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.3
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• pp.33-45
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• 1997

In this paper, we propsoe a new method of th ecommunication system for cooperative behaviors and works in collective autonomous mobile robots. A communication function among the collective robots is essential to intelligent cooperative works. In genral, global communication is effective for small number of robots. However when the number of robot goes on increasing, this becomes difficult to be realized because of limited communication capacity and increasing amount of information to handle. And also the problems such as communciation interfeence and improper message transmission occur. So we propose local communication system based on infrared sensor to realize the cooperative behavior among robots as the solution of above problem. It is possible to prevent overflow of information and exchange of complex information by fusion sign board model which transmits the information to unspecified robots and message passing model which communicate a specific robot. And we formularize optimal communication range by analysis of information propagation mechanism from the proposed comunication system. At last we verify the effectiveness of the proposed communication system from example of cooperative works.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1909-1914
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• 2004

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.4
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• pp.8-17
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• 1998

Autonomous mobile robot agents(AMRAs) are robots which perform a given task by the same distributed self-organizing rules. In this paper, we let them form an equi-distance circle for the task of cooperative behaviors. Here, we suggest an algorithm to perform the taqk and then utilize a fuzzy system to improve the algorithm. It is shown that various cooperative activities appear in the simulation and particularly chaotic behaviors also appear by increasing the robot speed. Moreover, we prove the characteristics of this chaotic behaviors by calculating Lyapunov exponent.

• 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.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.2
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• pp.111-119
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• 1996

In this paper, we propose time-optimal trajectory planning algorithms for cooperative multi-robot manipulators system considering optimal load distribution. Internal forces essentially effect on time optimal trajectory planning and if they are comitted, the time optimal scheme is not no longer true. Therefore, we try to find the internal force factors of cooperative robot manipulators system in a time-optimal aspect. In this approach, a specific generalized inverse is used and is fuzzified for the purpose. In this optimal method, the fuzzy logic concept is used and selected for diminishing computation time, for finding the load distribution factors.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.725-730
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• 2012

In this paper, we propose the localization algorithm for the cooperative behavior of the swarm robots based on WSN (Wireless Sensor Network). The proposed method is as follows: First, we measure positions of the L-bot (Leader robot) and F-bots (Follower robots) by using the APIT (Approximate Point In Triangle) and the RSSI (Received Signal Strength Indication). Second, we measure relative positions of the F-bots against the pre-measured position of the L-bot by using trilateration. Then, to revise a position error caused by noise of the wireless signal, we use the particle filter. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.3 s.258
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• pp.285-294
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• 2007

Previously, ASCI(Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.