• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.49.1-49
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• 2002

$\textbullet$ Intelligent Space 1. Optimal Camera Arrangement 2. People Tracking 3. Physical Robot 4. Robot Control 5. People Following Robot $\textbullet$ Initial stage for making high-level human robot interaction. http://dfs.iis.u-tokyo.ac.jp/∼leejooho/ispace/.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.1-119
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• 2002

$\textbullet$ Introduction: Service robot $\textbullet$ Design of the Guide Service Mobile Robot $\textbullet$ Path tracking algorithm $\textbullet$ Path recognition algorithm $\textbullet$ Localization $\textbullet$ Guide lever $\textbullet$ Conclusions: A mobile robot was developed as a service robot

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.265-276
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• 2017

In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.123-125
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tole-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.1
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• pp.41-48
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• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.10a
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• pp.421-427
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• 2012

In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.741-748
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• 2001

In this paper, we propose a method of tracking and capturing a moving object by a mobile robot. The position of the moving object is acquired from the relation through color-based image information from a 2-DOF active camera mounted on the mobile robot. The direction and rotational angular velocity of the moving object are estimated using a state estimator. A Kalman fiber is used as the state estimator for taking characteristics of robustness against noises and uncertainties included in the input data. After estimating the trajectory of the moving object, we decide on the optimal trajectory and plan the motion of the mobile robot to capture the target object within the shortest distance and time. The effectiveness of the proposed method is demonstrated by the simulations and experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.5
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• pp.354-361
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• 2016

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1463-1471
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• 2012

In this study, a 3-axis camera system design is proposed for application to an existing 2-axis surveillance robot. A camera-image-based target-tracking algorithm for this robot has also been proposed. The algorithm has been validated using a virtual simulation. In the algorithm, the heading direction vector of the camera system in the mobile surveillance robot is obtained by the position error between the center of the view finder and the center of the object in the camera image. By using the heading direction vector of the camera system, the desired pan and tilt angles for target-tracking and the desired roll angle for the stabilization of the camera image are obtained through inverse kinematics. The algorithm has been validated using a virtual simulation model based on MATLAB and ADAMS by checking the corresponding movement of the robot to the target motion and the virtual image error of the view finder.