• International Journal of Control, Automation, and Systems
• /
• 제4권6호
• /
• pp.725-735
• /
• 2006

This paper deals with the problem of self-learning cooperative motion control for the pushing task of a humanoid robot in the sagittal plane. A model with 27 linked rigid bodies is developed to simulate the system dynamics. A simple genetic algorithm(SGA) is used to find the cooperative motion, which is to minimize the total energy consumption for the entire humanoid robot body. And the multi-layer neural network based on backpropagation(BP) is also constructed and applied to generalize parameters, which are obtained from the optimization procedure by SGA, in order to control the system.

• International Journal of Contents
• /
• 제7권4호
• /
• pp.10-18
• /
• 2011

Cooperative Group Games (CGG) emphasize participation, challenges and fun by cooperation among group members rather than competition. CGGs have been proven to be an efficient education method that teaches the value of cultivating cooperation skills, discipline, and sense of public order for tackling problems together through various types of interactions. When integrated with computer game technology, the general classic CGG can be reborn with new educational and entertaining aspects. To combine the joy of physical movement of group games and the richness of computer game contents, a motion based arcade CGG has been developed in this study, based on the original ideas and structures of classic off-line CGGs. While implementing the classic game concepts in arcade environment, various design attributes have been considered and applied, which were supposed to promote cooperative game play. Overall, the process of the implementation and test results of our four CGGs suggest several design strategies for effective arcade CGGs.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.468-472
• /
• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• 제어로봇시스템학회논문지
• /
• 제5권8호
• /
• pp.948-954
• /
• 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.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2010년도 추계학술대회 논문집
• /
• pp.37-38
• /
• 2010

• 제어로봇시스템학회논문지
• /
• 제14권10호
• /
• pp.1029-1037
• /
• 2008

When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque far all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.

• 제어로봇시스템학회논문지
• /
• 제10권12호
• /
• pp.1233-1240
• /
• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• 제어로봇시스템학회논문지
• /
• 제6권3호
• /
• pp.298-308
• /
• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2018년도 추계학술대회
• /
• pp.396-399
• /
• 2018

본 연구에서는 실감형 바이애슬론 시뮬레이터에서 사용자의 동작에 대한 식별과 시뮬레이터와의 상호작용을 위한 동작인식 시스템을 제안한다. 제안 시스템은 바이애슬론 경기 활동에서 발생하는 다양한 동작 패턴을 인식하고 자세를 판단하는 과정에서 장애물 또는 중첩된 관절에 의해 가려지는 폐색현상과 빠른 동작으로 인한 부정확한 모션 데이터를 개선하고자 하였다. 이를 위하여 본 논문에서는 IoT 기반의 다중 모션 인식 장치를 구성하였으며, 정상적인 동작 식별을 위한 골격 영역 보간 방법을 적용하여 바이애슬론 활동 동작에 대한 인식율을 높이고 동작 유사도 측정이 가능한 시스템을 설계하였다. 본 제안 시스템은 동계 설상스포츠 동작 분석에 적용이 가능하고, 실감형 바이애슬론 시뮬레이터 시스템 개발에 활용될 것이다.

• 한국과학교육학회지
• /
• 제19권2호
• /
• pp.266-274
• /
• 1999

본 연구에서는 협동적인 CAI와 개별적인 CAI가 중학생들의 과학 개념, 학업 성취도, 수업 환경에 대한 인식, 그리고 학습동기에 미치는 효과를 조사하였다. 중학교 3개 학급을 대상으로 분자 운동 단원에 대해 5차시 동안 협동적 CAI, 개별적 CAI, 전통적 수업을 실시하였다. 분석 결과 개념, 수업 환경에 대한 인식, 학습동기 검사에서 협동학습 집단의 평균이 전통적 수업 집단에 비해 유의미하게 높았으며, 개념의 파지 검사에서 협동학습 집단의 개념 이해도가 더 높게 나타났다. 또한, 개념의 파지 및 학습동기 검사에서 수업 처치와 사전 성취 수준 사이의 상호작용 효과가 있었다. 이에 대한 교육학적 함의를 논의하였다.