• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.451-456
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• 2005

In this paper, we propose the navigation control method for intelligent robot using messy genetic algorithm. The fuzzy controller design for navigation of the intelligent robot was dependant on expert's knowledge. But, the parameters of the fuzzy logic controller obtained from expert's control action may not be outimal. In this paper, to solve the above problem, we propose the identification method to automatically tune the number of fuzzy rule and parameters of memberships of fuzzy controller using mGA. Finally, to show and evaluate the generality and feasibility of the proposed method, we provides some simulations for wall following navigation of intelligent robot.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.389-396
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• 2016

The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.781-787
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• 2015

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.955-963
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• 2012

A mobile tour-guide robot is a very attractive tour-guide in the exhibition hall of science museums and the necessity of tour-guide robots for museums is gradually increasing. Two kinds of robots have served as tour-guide robots in an exhibition hall of the Korea National Science Museum which is a very densely populated museum of many people and exhibits. The robots move around the large exhibition area and provide guide services to lots of visitors. A robot leads the way to the exhibit that a visitor wants to find and it takes the shortest route. Robots were operated for four months from January to April 2011, and we observed behavior of visitors and collected subjective evaluation of users. The result shows that there are four stages of using a mobile tour-guide robot and some differences of subjective evaluations depending on the gender and the age of the user and we suggest several improvements on the mobile tour-guide robot.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.206-210
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• 2011

Vision-based robot localization is challenging due to the vast amount of visual information available, requiring extensive storage and processing time. To deal with these challenges, we propose the use of features extracted from omni-directional panoramic images and present a method for localization of a mobile robot equipped with an omni-directional camera. The core of the proposed scheme may be summarized as follows : First, we utilize an omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Second, Nodes around the robot are extracted by the correlation coefficients of Circular Horizontal Line between the landmark and the current captured image. Third, the robot position is determined from the locations by the proposed correlation-based landmark image matching. To accelerate computations, we have assigned the node candidates using color information and the correlation values are calculated based on Fast Fourier Transforms. Experiments show that the proposed method is effective in global localization of mobile robots and robust to lighting variations.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.688-694
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• 2010

This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1044-1050
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• 2014

Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.132-137
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• 2011

The walking mobility with stability of 4 legged robots is the distinguished skills for many application areas. Planning gaits of efficient walking for quadruped robots is an important and challenging task. Especially, autonomous generation of locomotion is required to manage various robot models and environments. In this paper, we propose an adaptive locomotion control of 4 legged robot for irregular terrain using HyperNEAT. Generated locomotion is executed and analysed using ODE based Webots simulation for the 4 legged robot which is built by Bioloid.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.669-674
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• 2012

This study presents the remote control of a mobile robot using iPhone based on Wi-Fi communication. The paper proposes the following set of user interfaces : acceleration mode, arrow touch mode, and jog-shuttle mode. To evaluate the proposed three interfaces, a virtual robot is controlled in a monitor to follow a referenced trajectory using iPhone. In simulation, the standard deviation and summed errors are analysed for showing good and weak points of the proposed three interfaces. The proposed interface replace an additional remote controller requiring cost with a cellular phone. Results of an experiment show that the proposed interfaces can be effectively used for remote robot control.