• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.734-739
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. For the control of the mobile robot, an absolute position sensor is necessary. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and that is propagated to getting the pose of a mobile robot. With the experiments in the corridor, the proposed active calibration scheme is verified experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1396-1399
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• 1996

With the progress in process automation, it becomes necessary that a robot should have various sophisticated capabilities. A robot programming language is a tool that can give a robot such capabilities without any change in robot architecture. Especially a task level automatic programming system enables a robot able to perform a job intelligently. Therefore anyone who is not an expert on welding or robot programming can easily use it. In this research, basic automatic welding program is combined with workspace information, which makes users do an arc welding job automatically.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1840-1843
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• 1997

The task environment of a robot is changing rapidly and task itself becomes complicated due to current industrial trends of multi-product and small lot size production. A convenient user-interfaced off-line programming(OLP) system is being developed in order to overcome the difficulty in teaching a robot task. Using the OLP system, operators can easily teach robot tasks off-line and verify feasibility of the task through simulation of a robot prior to the on-line execution. However, some task errors are inevitable by kinematic differences between the robot model in OLP and the actual robot. Three calibration methods using image information are proposed to compensate the kinematic differences. These methods compose of a relative position vector method, three point compensation method, and base line compensation method. To compensate a kinematic differences the vision system with one monochrome camera is used in the calibration experiment.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.10
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• pp.50-58
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• 1993

The problem of trajectory planning in two redundant robot systems is considered. The trajectory of each robot for the cooperative task is generated so that the robots assume their optimal configurations while following a given desired task. The cooperative task compatibility in and the weighted sum of manipulabilities are proposed and investigated as quality measures. The cooperative task compatibility includes the velocity and force transmission charateristics to the task requirements and so it measures the compatibilities of robot postures with respect to a given task. The weighted sum of manipuabilities of robot postures with respect to a given task. The weighted sum of manipulabilities is also considered as a quality measure since it is helpful to avoid singularities. The usefulness of the cooperative task compatibility and the weighted sum of manipulabilities are shown by computer simulation studies.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.7
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• pp.3566-3582
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• 2019

In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.

• Electronics and Telecommunications Trends
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• v.36 no.2
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• pp.22-31
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• 2021

This report introduces a definition for robot task intelligence and explains the basis of the challenges associated with implementing robot task intelligence in real-world problems. Two fundamental elements of this intelligence, robot manipulation and navigation, are introduced herein. We describe the existing trends and industrial applications of the robot task intelligence in logistics and agricultural automation. Furthermore, as an underpinning technology for this intelligence, we review the existing three-dimensional position estimation techniques and summarize the difficulties associated with applying pure SLAM technology to real-world applications. Finally, we discuss the prospects of the robot task intelligence research and its potential for solving real-world problems.

• Journal of the Ergonomics Society of Korea
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• v.6 no.2
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.3
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• pp.206-212
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• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.3
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• pp.215-220
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• 2021

As the role of robots expands, flexible task planning methods are attracting attention from various domains. Many task planning frameworks are introduced to efficiently work in a wide range of areas. In order to work well in a broad region with multiple robots, various communication conditions should be controlled by task planning frameworks. However, few methods are proposed. In this paper, we propose mission planning methods according to the communication status of robots. The proposed method was verified through experiments assuming different communication states with a multi-robot system.