• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1764-1769
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• 1991

Recently, dexterous mechanical hands have become of interest in the field of robotics. In this paper, a new symbolic C-Y notation is proposed for the kinematic modeling, and we solve the kinematics of a simplified model of POSTECH Hand 1, which is a 5 fingered, 20 degrees of freedom anthropomorphic hand. POSTECH Hand I is designed to have distinctive kinematic structure and the kinematic analysis of the hand is carried out using C-Y notation. To prove the feasibility of C-Y notation, D-H notation is also applied to the POSTECH Hand 1. In the inverse kinematic analysis, we neglect the fingertip geometry and assume the point contact with 3 degrees of freedom constraints. The configurations which optimize manipulability index[2] was obtained based on the simulation experiments on the SUN-4 graphic workstation using SUNPhigs graphic software.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.78.6-78
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• 2002

$\textbullet$ The Gifu Hand III is a 5-fingered hand driven by built-in servomotors and has 20 joints with 10 DOF. $\textbullet$ The backlash of transmission, the mobility space, and the opposability of the thumb are improved. $\textbullet$ The new distributed tactile sensor with 859 detecting points is mounted on the hand surface. $\textbullet$ Experiments of grasping objects by a grasping strategy imitating human grasping reflex are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.62-69
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• 2008

A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human's daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger's motion profile to the design procedure. As a result, the developed hand can imitate not only human hand's shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.

• Smart Structures and Systems
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• v.34 no.2
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• pp.117-127
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• 2024

A novel approach that the smart control of robotics can be realized by a fuzzy controller and an appropriate Runge-Kutta scheme in this paper. A recently proposed integral inequality is selected based on the free weight matrix, and the less conservative stability criterion is given in the form of linear matrix inequalities (LMIs). We demonstrate that this target information obtained through image processing is subjected to smart control with computer-vision robotic to Arduino, and the infrared beacon was utilized for the operation of practical illustrations. A fuzzy controller derived with a fuzzy Runge-Kutta type functions is injected into the system and then the system is stabilized asymptotically. In this study, a fuzzy controller and a fuzzy observer are proposed via the parallel distributed compensation technique to stabilize the system. This paper achieves the goal of real-time following of three vehicles and there are many areas where improvements were made. Finally, each information is transmitted to Arduino via I2C to follow the self-propelled vehicle. The proposed calculation is approved in reproductions and ongoing smart control tests.

• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.42-51
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• 2015

Peg-in-hole assembly is the most representative task for a robot to perform under contact conditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existing strategies are not sufficiently practical to be used for various assembly tasks in a human environment because they require additional sensors or exclusive tools. In this paper, the peg-in-hole assembly experiment is performed with anthropomorphic hand arm robot without extra sensors or devices using "intuitive peg-in-hole strategy". From this work, the probability of applying the peg-in-hole strategy to a common assembly task is verified.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.179-185
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• 2015

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.193-204
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• 2016

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.656-664
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• 2016

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.