• Title/Summary/Keyword: Robot

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An Implementation of Sound Tracking Mobile Robot Using Sound Sensors (사운드 센서를 이용한 음원 추적 이동 로봇의 구현)

  • Woo, Him-Chan;Son, Hyeong-Gon;Lee, Seung-Hun;Joo, Moon G.
    • IEMEK Journal of Embedded Systems and Applications
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    • v.13 no.1
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    • pp.33-43
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    • 2018
  • In this paper, we describe an sound tracking mobile robot suitable for areas where GPS is not available. Sound sensors are attached to four sides of the robot in order to locate the person in a danger, and the robot is supposed to move to the yelling person. The traveling distance of the mobile robot is calculated by the encoder attached to the wheel of the mobile robot. The moving direction of the mobile robot is measured by a gyro sensor on the robot. When the person in danger pushes a button of the mobile robot, the mobile robot transmits the trajectory data to a designated server.

Questionnaire Results of Subjective Evaluation of Seal Robot at the National Museum of Science and Technology in Stockholm, Sweden

  • Shibata, Takanori;Wada, Kazuyoshi;Tanie, Kazuo
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2003.09a
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    • pp.16-19
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    • 2003
  • This paper describes research on mental commit robot that seeks a different direction from industrial robot, and that is not so rigidly dependent on objective measures such as accuracy and speed. The main goal of this research is to explore a new area in robotics, with an emphasis on human-robot interaction. In the previous research, we categories robots into four categories in terms of appearance. Then, we introduced a cat robot and a seal robot, and evaluated them by interviewing many people. The results showed that physical interaction improved subjective evaluation. Moreover, a priori knowledge of a subject has much influence into subjective interpretation and evaluation of mental commit robot. In this paper, 133 subjects evaluated the seal robot, Paro by questionnaires in an exhibition at the National Museum of Science and Technology in Stockholm, Sweden. This paper reports the results of statistical analysis of evaluation data.

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Development of User-Based Robot Simulation using VRML and Open Architecture (VRML 과 개방형구조를 이용한 사용자 기반의 로봇 시뮬레이션 개발)

  • Kim, Chang-Sei;Hong, Keum-Shik;Kim, Soo-Ho
    • Proceedings of the KSME Conference
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    • 2007.05a
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    • pp.1201-1206
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    • 2007
  • Robot simulation technique is essential not only for robot developers to design robotic systems but also for robot operators to predict robot motion, configure system layout, and increase robot ability. However, commercial robot simulation software such as ROBCAD, IGRIP, and so on are expensive and sometimes they are difficult to customize into industrial purpose programming for users. Therefore, user-based simulation programming is required to magnify the efficiency of robot system. In this paper, we show the methodology of developing user-based robot simulation programming using PC(personal computer), Open-Inventor, and Windows Programming. The developed programming has been successfully applied to welding robot systems of a shipbuilding industry. Also, the methodology presented here can be easily extended to simulate manipulators of other typed mechanism on user's PC.

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An Optimal Initial Configuration of a Humanoid Robot (인간형 로봇의 최적 초기 자세)

  • Sung, Young-Whee;Cho, Dong-Kwon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.56 no.1
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    • pp.167-173
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    • 2007
  • This paper describes a redundancy resolution based method for determining an optimal initial configuration of a humanoid robot for holding an object. There are three important aspects for a humanoid robot to be able to hold an object. Those three aspects are the reachability that guarantees the robot to reach the object, the stability that guarantees the robot to remain stable while moving or holding the object, and the manipulability that makes the robot manipulate the object dexterously. In this paper, a humanoid robot with 20 degrees of freedom is considered. The humanoid robot is kinematically redundant and has infinite number of solutions for the initial configuration problem. The complex three-dimensional redundancy resolution problem is divided into two simple two-dimensional redundancy resolution problems by incorporating the symmetry of the problem, robot's moving capability, and the geometrical characteristics of the given robot. An optimal solution with respect to the reachability, the stability, and the manipulability is obtained by solving these two redundancy resolution problems.

Challenge and Problem of Medical Robot Surgery Research (국내의료로봇의 도전과 과제)

  • Kim, Kwang-Gi
    • Journal of Biomedical Engineering Research
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    • v.30 no.4
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    • pp.271-278
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    • 2009
  • Recently, robot research and development was interesting the inside and outside of the country. Medical robot surgery showed diverse advantages according to advanced technical robot research. Also the academic society, research institute and industry showed concerning to the medical robot system. There is a growing need to introduce medical research for aging society. The surgical landscape is quickly changing because of the major driving force of robotics. Robot system and biomedical engineering research as defined a new engine of development show present ways of future revitalization of medical robot system. Medical robot system will be even more utilized when we keeps trying to combine high biomedical technique, IT research, and robot technique. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied.

Remote Monitoring and Control of the Real Robot associated with a Virtual Robot

  • Jeon, Byung-Joon;Kim, Dong-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.43-48
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    • 2005
  • A robot system encompassing a remote control and monitoring through a virtual robot design is addressed and a tracking problem for a 2D (2 dimension) moving target by a robot vision is chosen as a case study. The virtual robot is developed, and it synchronizes with the real robot by compensating delay time. Two systems are displayed on a remote panel by communicating command and image data. The virtual robot utilizes an OpenGL library in Visual $C^{++}$ environment. Additionally, the remote monitoring and control between the real robot and the virtual robot are accomplished by employing an appropriate data compression in a network communication.

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Implementation of a 3D Interface System for controlling Mobile Robot (모바일 로봇 제어를 위한 3D 인터페이스 시스템의 구현)

  • Kang, Chang-Hun;Lee, Jong-Jin;Ahn, Hyun-Sik
    • Proceedings of the KIEE Conference
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    • 2001.11c
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    • pp.107-110
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    • 2001
  • Recently, there are lots of concerning on robot agent system working for itself with the trends of the research of bio-mimetic system and intelligent robot. In this paper, a virtual 3D interface system is proposed based on Internet for remote controlling and monitoring of mobile robot. The proposed system is constructed as manager-agent model. A worker can order the robot agent move to a new position by clicking the destination on virtual space of 3D graphic interface in manager. Then the robot agent move to the position automatically with avoiding collision by using range finding and autonomous control algorithm. The proposed robot agent system lets us control the mobile robot remotely located more conveniently.

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Adaptive Control of Space Robot in Inertia Space (Inertia Space에서 우주 로봇의 적응제어)

  • Lee, Ju-Jang
    • Proceedings of the KIEE Conference
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    • 1992.07a
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    • pp.381-385
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    • 1992
  • In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

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A study of Human robot Walking Method Using Zigbee Sensor Network (센서 네트워크를 이용한 2족 보행 로봇의 워킹 방법에 관한 연구)

  • Shin, Dae-Seob;Lee, Hyeong-Cheol
    • Proceedings of the IEEK Conference
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    • 2009.05a
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    • pp.375-377
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    • 2009
  • This paper researched the algorithm of robot's walking and action on the basis of robot studied and made at our laboratory and studied how to efficiently control the robot joints by developing wireless Digital Servo Motor using Zigbee Sensor Network Module which is using at wide part recently. I realized the stable walking by adopt Press Sensor at the bottom of robot foot to get stability of walking. Also I let the algorithm calculate the robot movement to make the joint motion and monitored the robot walk to its motion. At this Paper, I studied the method organizing the motion by the each robot walking and measuring the torque applying to the joint. And I also knew that it is possible to make its control and construct hardware more conveniently than them of the existing studied and controling 2Legs Walking Robot by applying it at walking robot and developing wireless servo motor by Zirbee Sensor Network.

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Object Tracking Algorithm for a Mobile Robot Using Ultrasonic Sensors

  • Park, M.G.;Lee, M.C.
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.44.5-44
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    • 2001
  • This paper proposes the algorithm which a mobile robot tracks the object captured by ultrasonic sensors of the robot and automatically generates a path according to the object In the proposed algorithm, a robot detects movements of the object as using ultrasonic sensors and then the robot follows the moving object. This algorithm simplifies robot path planning. The eight ultrasonic sensors on the robot capture distances between the robot and objects. The robot detects the movements of the object by using the changes of the distances captured by ultrasonic sensors. The target position of the robot is determined as the position of the detected moving object. The robot follows the object according to this movement strategy. The effectiveness of the proposed algorithm is verified through experiments.

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