Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145874
W. Ham, Jaebyung Park, E. Tumenjargal, L. Badarch, Hyeokjae Kwon
In this paper, we present a sliding mode control for the radio controlled helicopter based on quaternion dynamics. We also introduce the kinematics of the rotating object based on quaternion and then propose a robust sliding mode control algorithm which can guarantee the over all stability of the whole system. We will show the simulation results by using the matlab simulink software tool and then implement the computer animation by using OpenGL based on the data of the simulation results. In this paper, we introduce implementation of virtual training environments based on Embedded System. Our virtual environment consists of S3C6410 ARM11 based embedded board, 3D Auto-Stereoscopic LCD Module, and RC Helicopter's remote controller. We use the simple dynamics of the helicopter which we derived in previous research work under the assumption that it can be modeled as rigid body composed of three main parts, such as main body, main rotor, and tail rotor. From the computer simulation, we can check the validness of proposed control law.
{"title":"Simulation of RC Helicopter based on dynamics of quaternion by using OpenGL and simulink","authors":"W. Ham, Jaebyung Park, E. Tumenjargal, L. Badarch, Hyeokjae Kwon","doi":"10.1109/URAI.2011.6145874","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145874","url":null,"abstract":"In this paper, we present a sliding mode control for the radio controlled helicopter based on quaternion dynamics. We also introduce the kinematics of the rotating object based on quaternion and then propose a robust sliding mode control algorithm which can guarantee the over all stability of the whole system. We will show the simulation results by using the matlab simulink software tool and then implement the computer animation by using OpenGL based on the data of the simulation results. In this paper, we introduce implementation of virtual training environments based on Embedded System. Our virtual environment consists of S3C6410 ARM11 based embedded board, 3D Auto-Stereoscopic LCD Module, and RC Helicopter's remote controller. We use the simple dynamics of the helicopter which we derived in previous research work under the assumption that it can be modeled as rigid body composed of three main parts, such as main body, main rotor, and tail rotor. From the computer simulation, we can check the validness of proposed control law.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134340091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145863
Jae-Han Park, J. Bae, Yong-Deuk Shin, Sung-Woo Park, M. Baeg
In this paper, we present a framework of grasping planning for multi-fingered robot hands which is based on the planning scheme of human. Structure of the proposed grasping planner is composed of three sub planners: grasping type planner, opposition parameter planner and approach vector planner. This planner is based on the way of human's grasping plan, so it is suitable for learning of intelligences for grasping of human. Using this framework of grasping planning, we would like to utilize to study for robot's imitating of human's grasping plan intelligence.
{"title":"Framework of grasping planning for multi-fingered robot hands","authors":"Jae-Han Park, J. Bae, Yong-Deuk Shin, Sung-Woo Park, M. Baeg","doi":"10.1109/URAI.2011.6145863","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145863","url":null,"abstract":"In this paper, we present a framework of grasping planning for multi-fingered robot hands which is based on the planning scheme of human. Structure of the proposed grasping planner is composed of three sub planners: grasping type planner, opposition parameter planner and approach vector planner. This planner is based on the way of human's grasping plan, so it is suitable for learning of intelligences for grasping of human. Using this framework of grasping planning, we would like to utilize to study for robot's imitating of human's grasping plan intelligence.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133962518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146044
Seung Jun Lee, Seul Jung
This paper presents novel design, development, and control of a mobile robot that is required to perform home service application. The robot is called KOBOKER (Korean Robot Worker) and designed for Korean home environment that requires living life on the floor. KOBOKER has been developed for Korean floor living life style with several design strategies such as balancing capability with two wheels, separable low and upper bodies, adjustable waist, stretchable waist, and lastly up and down arms to reach objects on the floor.
{"title":"Novel design and control of a home service mobile robot for Korean floor-living life style: KOBOKER","authors":"Seung Jun Lee, Seul Jung","doi":"10.1109/URAI.2011.6146044","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146044","url":null,"abstract":"This paper presents novel design, development, and control of a mobile robot that is required to perform home service application. The robot is called KOBOKER (Korean Robot Worker) and designed for Korean home environment that requires living life on the floor. KOBOKER has been developed for Korean floor living life style with several design strategies such as balancing capability with two wheels, separable low and upper bodies, adjustable waist, stretchable waist, and lastly up and down arms to reach objects on the floor.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133274149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146021
C. Park, Dongil Park, Hyunmin Do
The automated solar cell process line is composed of various types of solar cell substrate handling robots such as cassette transfer robots, glass handling robots and vacuum robots. This paper is focusing on the beam type solar cell substrate transport robot and presents the design procedure for motion simulation model. The simulation model for beam type robot is constructed by using Matlab/Simulink and SimMechanics. The trajectory is generated based on the one tack time motion and the tracking performance using the simulation model is predicted as well.
{"title":"Motion simulation model for beam type solar cell substrate transport robot","authors":"C. Park, Dongil Park, Hyunmin Do","doi":"10.1109/URAI.2011.6146021","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146021","url":null,"abstract":"The automated solar cell process line is composed of various types of solar cell substrate handling robots such as cassette transfer robots, glass handling robots and vacuum robots. This paper is focusing on the beam type solar cell substrate transport robot and presents the design procedure for motion simulation model. The simulation model for beam type robot is constructed by using Matlab/Simulink and SimMechanics. The trajectory is generated based on the one tack time motion and the tracking performance using the simulation model is predicted as well.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121800185","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145866
Fan Liu, A. Narayanan
This paper deals with collision avoidance for multiple robots and methods to allow robots to replan their routes in real time, taking into account a dynamic environment. A number of collision types are defined for multiple robots and, in particular, between pairs of robots that need to be handled by any real-time collision avoidance system. A novel extension to the standard A* algorithm is presented (Super A*) that solves these collision types by using dynamic real time monitoring and iterative move-evaluate-move cycles. The proposed extension to A* is capable of avoiding not just other moving robots but also static obstacles. Also, the proposed extension allows robots to replan their routes as optimally as possible. Simulations of the algorithm are conducted in different state-space configurations. The algorithm is tested on two minibots in real world, small-scale environments containing obstacles. The results show that the collision avoidance and replanning approach is effective and useful for managing possible collisions between robots working independently in a shared physical environment and needing to traverse the environment to undertake and complete their tasks.
{"title":"Real time replanning based on A* for collision avoidance in multi-robot systems","authors":"Fan Liu, A. Narayanan","doi":"10.1109/URAI.2011.6145866","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145866","url":null,"abstract":"This paper deals with collision avoidance for multiple robots and methods to allow robots to replan their routes in real time, taking into account a dynamic environment. A number of collision types are defined for multiple robots and, in particular, between pairs of robots that need to be handled by any real-time collision avoidance system. A novel extension to the standard A* algorithm is presented (Super A*) that solves these collision types by using dynamic real time monitoring and iterative move-evaluate-move cycles. The proposed extension to A* is capable of avoiding not just other moving robots but also static obstacles. Also, the proposed extension allows robots to replan their routes as optimally as possible. Simulations of the algorithm are conducted in different state-space configurations. The algorithm is tested on two minibots in real world, small-scale environments containing obstacles. The results show that the collision avoidance and replanning approach is effective and useful for managing possible collisions between robots working independently in a shared physical environment and needing to traverse the environment to undertake and complete their tasks.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121808594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145955
Geunho Lee, Yukinori Sato, N. Chong
This paper addresses an adjustable group generation problem for heterogeneous robot groups performing cooperative tasks simultaneously. As its solution approach, we propose a decentralized task-oriented group generation scheme, which is composed of group consensus and self-adjustment algorithms. The group consensus algorithm enables robots to select leader robots and generate individual groups based on the leaders. Through the self-adjustment algorithm, to meet assigned task conditions, the leader attempts to recruit more members or any robots are dismissed against the group. By doing this, robots can reach consensus on self-organizing themselves according to the task conditions. Extensive simulations are performed to verify that the proposed scheme effects an adjustable self-organization.
{"title":"Decentralized task-oriented local group generation for robot swarms","authors":"Geunho Lee, Yukinori Sato, N. Chong","doi":"10.1109/URAI.2011.6145955","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145955","url":null,"abstract":"This paper addresses an adjustable group generation problem for heterogeneous robot groups performing cooperative tasks simultaneously. As its solution approach, we propose a decentralized task-oriented group generation scheme, which is composed of group consensus and self-adjustment algorithms. The group consensus algorithm enables robots to select leader robots and generate individual groups based on the leaders. Through the self-adjustment algorithm, to meet assigned task conditions, the leader attempts to recruit more members or any robots are dismissed against the group. By doing this, robots can reach consensus on self-organizing themselves according to the task conditions. Extensive simulations are performed to verify that the proposed scheme effects an adjustable self-organization.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122047529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146031
D. Yun, Kyung-Soo Kim, Soohyun Kim, Heechang Park
This paper describes the analysis of Pneumatic Balloon Actuator (PBA). To do this, Finite Element Method (FEM) is used. In this paper, no-load characteristic of PBA is studied and through this, the displacement and stress of PBA can be calculated.
{"title":"Analysis of Pneumatic Balloon Actuator","authors":"D. Yun, Kyung-Soo Kim, Soohyun Kim, Heechang Park","doi":"10.1109/URAI.2011.6146031","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146031","url":null,"abstract":"This paper describes the analysis of Pneumatic Balloon Actuator (PBA). To do this, Finite Element Method (FEM) is used. In this paper, no-load characteristic of PBA is studied and through this, the displacement and stress of PBA can be calculated.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124671152","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145922
I. Jung, Sun Lim
In this paper, we propose an EtherCAT based Multi-model robot controller. The controller engages EtherCAT as high speed industrial motion network to enable both force based robot motion control in real-time and digital interface of various sensor data for multi-model robot control. The controller is composed of PC-based Master Controller and Slave Interface Module, which makes it capable to easily interface different types of sensors. For robot control, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, The PC-based Master Controller is designed using RTOS and EtherCAT network and the slave interface module has the capability to collect and transfer all sensor information of robot including force sensors to the master controller. It is proven by experimental results that the proposed system has real time controllability for robot control.
{"title":"EtherCAT based Multi-model robot controller","authors":"I. Jung, Sun Lim","doi":"10.1109/URAI.2011.6145922","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145922","url":null,"abstract":"In this paper, we propose an EtherCAT based Multi-model robot controller. The controller engages EtherCAT as high speed industrial motion network to enable both force based robot motion control in real-time and digital interface of various sensor data for multi-model robot control. The controller is composed of PC-based Master Controller and Slave Interface Module, which makes it capable to easily interface different types of sensors. For robot control, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, The PC-based Master Controller is designed using RTOS and EtherCAT network and the slave interface module has the capability to collect and transfer all sensor information of robot including force sensors to the master controller. It is proven by experimental results that the proposed system has real time controllability for robot control.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125509252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146012
Chanhun Park, J. Kyung, Taeyong Choi
For the direct teaching in a constraint condition, two types of impedance system can be considered, a single stage of impedance and double stages of impedance. Single impedance system is simple but it cannot feel the teaching signal and the contact signal separately. Double stages of impedance system is complicated but it can feel the teaching signal and the contact signal separately. In this paper, the difference of two solutions will be summarized.
{"title":"The difference between the double stages of impedance and the single stage of the impedance for a direct teaching method in a constraint condition","authors":"Chanhun Park, J. Kyung, Taeyong Choi","doi":"10.1109/URAI.2011.6146012","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146012","url":null,"abstract":"For the direct teaching in a constraint condition, two types of impedance system can be considered, a single stage of impedance and double stages of impedance. Single impedance system is simple but it cannot feel the teaching signal and the contact signal separately. Double stages of impedance system is complicated but it can feel the teaching signal and the contact signal separately. In this paper, the difference of two solutions will be summarized.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130356115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145849
S. Ge, Yanan Li, Hongsheng He
To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation.
{"title":"Neural-network-based human intention estimation for physical human-robot interaction","authors":"S. Ge, Yanan Li, Hongsheng He","doi":"10.1109/URAI.2011.6145849","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145849","url":null,"abstract":"To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128876552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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