• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.91.2-91
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• 2001

This paper describes the path planning of an autonomous mobile robot using one camera-based sequence image processing. As an assumption, all objects in front of the mobile robot are located on the same plane where robot moves. Using the moving camera grounded on the autonomous mobile robot, the robot extracts the angular points of obstacle objects, calculates the height using the assumption and discrepancy between two consecutive images. In the image processing, angular points of objects must correspond so that they deliver the size of objects. Thus, the robot passes through if the object has not the height, like the paper or the shadow projected. Otherwise, the robot passes aside if ...

• 제어로봇시스템학회논문지
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• 제6권3호
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• pp.309-316
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• 2000

A coordination method for a macro/micro robot with separate controllers is proposed and evaluated. The macro/micro robot system generally has independent controllers for the macro and the micro robot respectively. A controller for the coordination of the macro and the micro robot has been designed based on the stable independent controller of each system. The method and trajectory generation method is also proposed to track the moving desired position rapidly. The control method and trajectory generation method is also proposed to track the moving desired position rapidly. The control strategy has been implemented to the macro/micron robot system to evaluate the performance. The experimental results show that the proposed method for maintaining the micro robot within its workspace has uniform performance over the various range of the bandwidth and the proposed trajectory generator is shown to be efficient.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.726-734
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• 2007

Generally, a mobile robot is moved by original input programs. However, it is very hard for a non-expert to change the program generating the moving path of a mobile robot, because he doesn't know almost the teaching command and operating method for driving the robot. Therefore, the teaching method with speech command for a handicapped person without hands or a non-expert without an expert knowledge to generate the path is required gradually. In this study, for easily teaching the moving path of the autonomous mobile robot, the autonomous mobile robot with the function of speech recognition is developed. The use of human voice as the teaching method provides more convenient user-interface for mobile robot. To implement the teaching function, the designed robot system is composed of three separated control modules, which are speech preprocessing module, DC servo motor control module, and main control module. In this study, we design and implement a speaker dependent isolated word recognition system for creating moving path of an autonomous mobile robot in the unknown environment. The system uses word-level Hidden Markov Models(HMM) for designated command vocabularies to control a mobile robot, and it has postprocessing by neural network according to the condition based on confidence score. As the spectral analysis method, we use a filter-bank analysis model to extract of features of the voice. The proposed word recognition system is tested using 33 Korean words for control of the mobile robot navigation, and we also evaluate the performance of navigation of a mobile robot using only voice command.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.758-761
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• 2003

This paper introduces a method that can detect obstacles and corridor environments from the images captured by a CCD camera in an automobile or mobile robot is proposed. Processing the input dynamic images in real time requires high performance hardware as well as efficient software. In order to relieve these requirements for detecting the useful information from the images in real time, a "Moving Window" scheme is proposed. Therefore, detecting the useful information, it becomes possible to search the obstacles within the driving corridor of an automobile or mobile robot. The feasibility of the proposed algorithm is demonstrated through the simulated experiments of the corridor driving.

• 한국정밀공학회지
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• 제19권9호
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• pp.142-150
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• 2002

This study describes a method of finding an optimal path of a soccer robot by using a concentric circle method with different radii of rotation. Comparing with conventional algorithms which try to find the shortest path length, the variable concentric circle method find the shortest moving time. The radius fur the shortest moving time for a given ball location depends on the relative location between a shooting robot and a ball. Practically it is difficult to find an analytical solution due to many unknowns. Assuming a radius of rotation within a possible range, total path moving time can be calculated by adding the times needed for straight path and circular path. Among these times the shortest time is obtained. In this paper, a graphical solution is presented such that the game ground is divided into 3 regions with a minimum, medium, and maximum radius of rotation.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.839-840
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• 2006

Our paper proposes a novel moving object tracking scheme for biped robot using a single camera. For walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum model. This analysis leads us a simple linear dynamics. And, the control parameter of the biped robot is derived from the feedback signal which converges the position of a image feature to the feature position of a desired image and the feedforward signal which compensates the motion component due to the moving object.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• 한국정밀공학회지
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• 제31권6호
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• pp.535-541
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• 2014

In this research, three degree-of-freedom parallel spherical robot is developed for an artificial eyeball. The proposed system is comprised of a moving and a base plate, three prismatic actuators, and a ball joint for an angular movement of the moving plate. The vector analysis is employed to investigate the relationship between positions of the actuators and a pose of the moving plate. The required ranges for every actuators are calculated using the derived inverse kinematics in regard to the combination of two different levels for the size of the system component. Then the size of every components is determined from the analyzed trend. PI controller is employed for the position control of the moving plate. Finally the proposed system is verified using an arbitrary path of the angular movement.

• 로봇학회논문지
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• 제17권2호
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• pp.159-163
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• 2022

A linearly moving structure in the area where the friction force is dominant - such as ducts filled with grease in the nuclear power plant - experiences increase in friction since the contact surface gets larger as the structure proceeds. To solve this problem is critical for the pipe inspection robot to investigate further area and this makes the system more energy-efficient. In this paper, we propose a passively growing sheath that can be added to linearly moving structures using zipper mechanism. The mechanism enables the linearly moving structures to maintain rolling contact condition against external environment, which provides substantial reduction in kinetic friction. To analyze the effect of the mechanism's head shape, we establish a physical model and compare to the experimental results. Finally, we have shown that the passively growing sheath can be successfully applied to the pipe inspection robot for the nuclear power plant.

• 로봇학회논문지
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• 제5권1호
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• pp.14-22
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• 2010

Recently researches on the window cleaning robot are being conducted actively. Moving mechanismsof these window cleaning robots are divided into two categories, which are towed type and walking type. Towed type is focused on fast cleaning on the flat surface of building and walking type has priority on cleaning task on relatively complex surface with overcoming obstacles. Currently commercialized towed type window cleaning robot has weakness that it is hard to adhere closely with the wall and easy to be affected by wind. In case of walking type it has the problem that the position errors are continuously accumulated during motion. In this paper, we propose new towed and walking type mechanism which can compensate previous weaknesses. After that we estimate the performance of each proposed mechanism by simulation.