• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.235-235
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• 2000

This paper proposes a tole force feedback control through internet systems. The system consists of joystick, solver, client, robot, and internet. The main contribution of this work is the implementation of the system rather than theoretical analysis. The time delay problems will be considered next step.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.405-406
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• 2011

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.137-142
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• 2015

Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1977-1978
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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 tele-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.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.193-196
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• 2002

In this paper, we presents the remote inspection activity with a mobile robot at the calandria face areas of the PHWR (pressurized heavy water reactor) nuclear power plants during full power plant operation.. The tele-operated mobile robot has been developed for this task. A 4 wheeled mechanism with the dual reconfigurable crawler arm has been adopted for the ease access to the high radiation area of calandria face. A specially designed extendable long reach mast attached on the mobile platform and the thermal image monitoring system enable human eyes to look into the calandria face. Application of robot will keep human workers from high radiation exposure and enhance the reliability of nuclear power plants.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.73-79
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• 2003

Recently, the tole-robot operations to an unstructured environment have been widely researched. The human's interaction with the tole-robot system can be used to improve robot operation and performance for an unknown environment. The exact modeling based on real environment is fundamental and important process for this interaction. In this paper, we propose an extrinsic parameter calibration and data augmentation method that only uses a circular jig in the hand-eye laser virtual environment. Compared to other methods, easier estimation and overlay can be done by this algorithm. Experimental results using synthetic graphic demonstrate the usefulness of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.681-687
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• 2010

In this paper, an implementation of force control for a slave mobile robot in tele-operation environment is presented. A mobile robot is built to have a force control capability with a force sensor and tested for force tracking control performances. Both position and contact force are regulated by a PID based hybrid control method and the impedance force control method. To minimize accumulated errors due to the adaptive impedance force control method, the novel force control method with a weighted function is proposed. Experimental studies of regulating contact forces for different control algorithms are tested and their performances are compared.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.340-345
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• 1998

A virtual reality system is implemented for the operator supervising a robot's operation at a remote site. For this implementation, a two D.O.F force-reflective joystick is designed to reflect the force/torque measured at the end of robotic manipulator and to generate the motion command for the robot by the operator using this joystick. In addition, the visual information that is captured by a CCD camera, is transmitted to the remote operator and is displayed on a CRT monitor. The operator who is holding the force reflective joystick and watching the CRT monitor can resolve unexpected problems that the robot confronts with. That is, the robot performs the tasks autonomously unless it confronts with unexpected events that can be resolved by only the operator. To demonstrate the feasibility of this system, a remote peg-in-hole operation is implemented and the experimental data are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.631-636
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• 2007

An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.