• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.228-237
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• 2004

This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the manipulated object. In order to analyze the motion of using soft fingertips, a dynamic manipulation control scheme is presented. Simulation and experimental results demonstrate the motion of soft-fingertips applied in object manipulating tasks and are further used to discuss the characteristics of soft-fingertip motions.

• 사물인터넷융복합논문지
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• 제9권1호
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• pp.97-104
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• 2023

본 논문은 ESRGAN(Enhanced Super Resolution GAN)과 SSS(Semantic Soft Segmentation)을 이용한 객체 분할에 관한 것이다. 본 논문의 연구진이 앞서 제안한 Mask R-CNN과 SSS를 이용한 객체 분할 방법의 분할 성능은 전반적으로 양호하지만 객체의 크기가 상대적으로 작은 경우 분할 성능이 저조해지는 문제점이 있었다. 본 논문은 이러한 문제점을 해소하기 위한 것이다. 제안된 방법은 Mask R-CNN을 통해 검출된 객체의 크기가 일정 기준치 이하인 경우, ESRGAN을 통해 초해상화를 수행한 후, SSS을 수행함으로써 소형 객체의 분할 성능을 개선하고자 한다. 제안된 방법에 따르면, 기존의 방법에 비해 크기가 작은 객체의 분할 특성을 좀 더 효과적으로 개선할 수 있음을 확인할 수 있었다.

• Journal of Advanced Marine Engineering and Technology
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• 제30권3호
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.670-673
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• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 소음진동
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• 제8권6호
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• pp.1172-1180
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• 1998

음향학적으로 강성인 물체와 연성인 물체로부터의 탄성파의 산란과 음향파의 산란을 수치적으로 해석하고 그 특성들을 비교하였다. 부분파들과. 또한 부분파들의 합인 전체 산란파의 위상 및 크기의 거동을 수치적으로 분석하고 토의하였다. 탄성파의 산란시 발생하는 종파와 횡파 사이의 모드변환 현상이 산란파의 크기와 위상에 주는 영향을 밝혔다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.264-266
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• 2009

A skill is defined as the special ability to do something well, especially as acquired by learning and practice. To learn a skill, a Bayesian network model for representing the skill is first learned. We will regard the Bayesian network for a skill as an affordance. We propose a soft Behavior Motivation(BM) switch as a method for ordering affordances to accomplish a task. Then, a skill is constructed as a combination of an affordance and a soft BM switch. To demonstrate the validity of our proposed method, some experiments were performed with GENIBO(Pet robot) performing a task using skills of Search-a-target-object, Approach-a-target-object, Push-up-in front of -a-target-object.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• 한국공작기계학회논문집
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• 제14권4호
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.