• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.29 no.2 s.233
• /
• pp.176-187
• /
• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.9
• /
• pp.881-886
• /
• 2009

This paper presents a manipulation system consisting of a coarse/fine XY positioning system and an out-of-plane manipulator. The object of the system is to conduct tine positioning and manipulation of micro parts. The fine stage and the out-of-plane manipulator have compliant mechanisms with flexure hinges, which are driven by stack-type piezoelectric elements. In the fine stage, the compliant mechanism plays the roles of motion guide and displacement amplification. The out-of-plane manipulator contains three piezo-driven compliant mechanisms for large working range and fine resolution. For large displacement, the compliant mechanism is implemented by a two-step displacement amplification mechanism. The compliant mechanisms are manufactured by wire electro-discharge machining for flexure hinges. Experiments demonstrate that the developed system is applicable to a fine positioning and fine manipulation of micro parts.

• 한국HCI학회:학술대회논문집
• /
• 2006.02a
• /
• pp.1011-1018
• /
• 2006

멀티모달 인터페이스는 인간의 제스처, 시선, 손의 움직임, 행동의 패턴, 음성, 물리적인 위치 등 인간의 자연스러운 행동들에 대한 정보를 해석하고 부호화하는 인지기반 기술이다. 본 논문에서는 제스처와 음성, 터치를 이용한 3D 오브젝트 기반의 멀티모달 인터페이스를 설계, 구현한다. 서비스 도메인은 스마트 홈이며 사용자는 3D 오브젝트 직접조작을 통해 원격으로 가정의 오브젝트들을 모니터링하고 제어할 수 있다. 멀티모달 인터랙션 입출력 과정에서는 여러 개의 모달리티를 병렬적으로 인지하고 처리해야 하기 때문에 입출력 과정에서 각 모달리티의 조합과 부호화 방법, 입출력 형식 등이 문제시된다. 본 연구에서는 모달리티들의 특징과 인간의 인지구조 분석을 바탕으로 제스처, 음성, 터치 모달리티 간의 입력조합방식을 제시하고 멀티모달을 이용한 효율적인 3D Object 인터랙션 프로토타입을 설계한다.

• Journal of Ocean Engineering and Technology
• /
• v.13 no.4 s.35
• /
• pp.169-173
• /
• 1999

In this paper some modifications for Lu's inverse method of fairing process are presented. The object function is changed and additional constraints for hull curve foiling is proposed. The newly introduced minimizing object function is the sum of the distances between the two curve's positions at the same parameter values instead of the sum of the distances between two vertices. The new one is better to represent the physical meaning of the object function, the smaller differences between two curves. In ship hull fairing the end tangent of curve has to be fined in some cases, so the additional constraint is considered to preserve the direction of end tangent. The sample results are shown.

• The Journal of Korea Robotics Society
• /
• v.14 no.2
• /
• pp.104-113
• /
• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.19 no.1
• /
• pp.1-8
• /
• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.124-129
• /
• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.32B no.5
• /
• pp.671-682
• /
• 1995

In this paper, we propose a multimedia query language MQL which defines and manipulates multimedia data as integration of monomedia data in time and space. The MQL is designed for a multimedia data model, called the object-relationship model, and based on the multimedia object calculus which formally describes operations on multimedia data. The SQL- like syntax for class definition and object manipulation, such as retrieval, insert, update, and delete, is defined. We show how the MQL can represent the user queries using composite temporal-spatial class structures and various relationships, such as equivalence and sequence.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.24 no.4
• /
• pp.577-582
• /
• 1987

A co-operative position control is proposed for two robots manipulation with five degrees of freedom to transfer an object following a specified trajectory, where each manifulator is assumed to change the postrue of its end effector without releasing the object.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.8
• /
• pp.2016-2025
• /
• 1994

A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the fingertips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations are used for the high-level planning. Quasi-static simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed low-level planning strategy.