Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677382
F. Asano, Yukihiro Akutsu, I. Tokuda
The authors have clarified that an active wobbling mass that vibrates up-and-down in the body frame of a passive combined rimless wheel (CRW) significantly increases the generated walking speed by the effect of entrainment to the wobbling motion. This paper then investigates the effects of an active wobbling mass that moves backward and forward in the body frame on the generated gait properties. First, we develop the reduced mathematical model for analysis and design the controller for driving the wobbling mass. Second, we show that the walking speed is successfully increased by adjusting the desired wobble frequency according to the effect of entrainment through numerical simulations. Furthermore, we conduct verification experiments using our CRW machine.
{"title":"Gait control of combined rimless wheel using active wobbling mass that vibrates backward and forward","authors":"F. Asano, Yukihiro Akutsu, I. Tokuda","doi":"10.1109/URAI.2013.6677382","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677382","url":null,"abstract":"The authors have clarified that an active wobbling mass that vibrates up-and-down in the body frame of a passive combined rimless wheel (CRW) significantly increases the generated walking speed by the effect of entrainment to the wobbling motion. This paper then investigates the effects of an active wobbling mass that moves backward and forward in the body frame on the generated gait properties. First, we develop the reduced mathematical model for analysis and design the controller for driving the wobbling mass. Second, we show that the walking speed is successfully increased by adjusting the desired wobble frequency according to the effect of entrainment through numerical simulations. Furthermore, we conduct verification experiments using our CRW machine.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123065397","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677320
Yunki Kim, Seung-Hwan Choi, Jangmyung Lee
This paper describes the implementation of system estimating outdoor position system with three GPS and one IMU sensor. The accuracy of three low-cost GPS which have large instantaneous error are supplemented by using The center of the triangular method and system that has more accurate estimation of position is designed by combining three GPS and one IMU sensor through EKF. And also data values overflowed are eliminated to gain more precise data values with utilization of Mahalanobis Distance. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found.
{"title":"Enhanced outdoor localization of multi-GPS/INS fusion system using Mahalanobis Distance","authors":"Yunki Kim, Seung-Hwan Choi, Jangmyung Lee","doi":"10.1109/URAI.2013.6677320","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677320","url":null,"abstract":"This paper describes the implementation of system estimating outdoor position system with three GPS and one IMU sensor. The accuracy of three low-cost GPS which have large instantaneous error are supplemented by using The center of the triangular method and system that has more accurate estimation of position is designed by combining three GPS and one IMU sensor through EKF. And also data values overflowed are eliminated to gain more precise data values with utilization of Mahalanobis Distance. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115518159","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677354
Gi-Hun Yang, Jongha Won, Seokwoo Ryu
Retargeting is a kind of mapping function between input of the master device and output of the slave robot. If the slave robot should conduct a teleoperation task like tele-surgery, operation in the space, operation in a dangerous place, the point of the end-effector becomes very important. In this paper, we have developed a retargeting system for teleoperation task, using data glove and vision sensor, and magnetic sensor. The system can sense motion and position of human wrist, hand motion including the fingers. With this system, the user can manipulate teleoperated robotic arm and robotic hand without any difficulties. The proposed system can provide intuitive and precise teleoperation mode. Also, hand gesture-based control mode was investigated using data glove.
{"title":"Online retargeting for multi-lateral teleoperation","authors":"Gi-Hun Yang, Jongha Won, Seokwoo Ryu","doi":"10.1109/URAI.2013.6677354","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677354","url":null,"abstract":"Retargeting is a kind of mapping function between input of the master device and output of the slave robot. If the slave robot should conduct a teleoperation task like tele-surgery, operation in the space, operation in a dangerous place, the point of the end-effector becomes very important. In this paper, we have developed a retargeting system for teleoperation task, using data glove and vision sensor, and magnetic sensor. The system can sense motion and position of human wrist, hand motion including the fingers. With this system, the user can manipulate teleoperated robotic arm and robotic hand without any difficulties. The proposed system can provide intuitive and precise teleoperation mode. Also, hand gesture-based control mode was investigated using data glove.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125361441","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677311
B. B. Kang, Hyunki In, Kyu-Jin Cho
Control of tendon driven wearable robot cannot be performed with rigid frame model because of nonlinearity factors of the robot. To control the tendon driven wearable robotic hand, development of model for tendon driven wearable robot hand is inevitable. As a first step, modeling of MCP joint flexion has been developed and presented in this paper.
{"title":"Modeling of tendon driven soft wearable robot for the finger","authors":"B. B. Kang, Hyunki In, Kyu-Jin Cho","doi":"10.1109/URAI.2013.6677311","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677311","url":null,"abstract":"Control of tendon driven wearable robot cannot be performed with rigid frame model because of nonlinearity factors of the robot. To control the tendon driven wearable robotic hand, development of model for tendon driven wearable robot hand is inevitable. As a first step, modeling of MCP joint flexion has been developed and presented in this paper.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122965760","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677314
Jungsan Cho, Jin Tak Kim, Sangdeok Park, Kabil Kim
The Quadruped walking robot “JINPOONG” is developed to be able to walk in the field which is use to detection, surveillance, reconnaissance, security, and assistance. It can move, carry the luggage of 60kg or more and walk at the uneven terrain such as gravel road and slope of 15 degrees or more. By adjusting the length of the leg caused by the ground reaction force and body posture balance control to the sagittal and lateral plane it is possible to walk stably on the uneven terrain. In this paper, we describe a method for the stable walk on the uneven terrain of JINPOONG and show experimental results about varied terrain.
{"title":"Dynamic walking of JINPOONG on the uneven terrain","authors":"Jungsan Cho, Jin Tak Kim, Sangdeok Park, Kabil Kim","doi":"10.1109/URAI.2013.6677314","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677314","url":null,"abstract":"The Quadruped walking robot “JINPOONG” is developed to be able to walk in the field which is use to detection, surveillance, reconnaissance, security, and assistance. It can move, carry the luggage of 60kg or more and walk at the uneven terrain such as gravel road and slope of 15 degrees or more. By adjusting the length of the leg caused by the ground reaction force and body posture balance control to the sagittal and lateral plane it is possible to walk stably on the uneven terrain. In this paper, we describe a method for the stable walk on the uneven terrain of JINPOONG and show experimental results about varied terrain.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"7 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116860867","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677483
K. Maegawa, T. Shiotani, K. Iwamoto, T. Noguchi, Misaki Kasetani, Joo-Ho Lee
Ubiquitous Display (UD) is a mobile projection robot that consists of mobile platform and projector with pan-tilt mechanism. This structure enables UD to project images on any surfaces such as a wall, a floor, or an object. In this paper, some structural issues of previous prototype are described. In addition, new prototype of UD re-developed to improve the issues and developing software modules are introduced.
{"title":"Ubiquitous display 2.0: Development of new prototype and software modules for improvement","authors":"K. Maegawa, T. Shiotani, K. Iwamoto, T. Noguchi, Misaki Kasetani, Joo-Ho Lee","doi":"10.1109/URAI.2013.6677483","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677483","url":null,"abstract":"Ubiquitous Display (UD) is a mobile projection robot that consists of mobile platform and projector with pan-tilt mechanism. This structure enables UD to project images on any surfaces such as a wall, a floor, or an object. In this paper, some structural issues of previous prototype are described. In addition, new prototype of UD re-developed to improve the issues and developing software modules are introduced.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116872430","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677347
Jihoon Seong, Jiwoong Kim, W. Chung
Owing to the presence of multiple obstacles or changes in the positions of surroundings objects, the localization of a mobile robot using only natural landmarks is difficult in indoor environments. Consequently, in these environments, the use of artificial landmarks to achieve robust localization is necessary. To this end, we propose a global localization method for mobile robots, using reflectors as indistinguishable artificial landmarks, not the manmade signs have a certain pattern. In previous studies, it has been shown that localization is possible using information about the distance between indistinguishable artificial landmarks. We applied this principle in a real-world situation with many obstacles or in a dynamic environment and confirmed that robust, high-accuracy global localization is possible.
{"title":"Mobile robot localization using indistinguishable artificial landmarks","authors":"Jihoon Seong, Jiwoong Kim, W. Chung","doi":"10.1109/URAI.2013.6677347","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677347","url":null,"abstract":"Owing to the presence of multiple obstacles or changes in the positions of surroundings objects, the localization of a mobile robot using only natural landmarks is difficult in indoor environments. Consequently, in these environments, the use of artificial landmarks to achieve robust localization is necessary. To this end, we propose a global localization method for mobile robots, using reflectors as indistinguishable artificial landmarks, not the manmade signs have a certain pattern. In previous studies, it has been shown that localization is possible using information about the distance between indistinguishable artificial landmarks. We applied this principle in a real-world situation with many obstacles or in a dynamic environment and confirmed that robust, high-accuracy global localization is possible.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114187120","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677301
R. S. Souza, Fernando Pinho, Leonardo Olivi, E. Cardozo
As mobile robots become part of large networked infrastructures, concerns about the integration of robots into distributed applications arise. Due to the predominance of the Web protocols, it is natural mobile robots to employ such protocols for interacting over the network with other applications. Information transfer protocols such as HTTP and SOAP allow parameters to be passed in their messages, leading to a client-server interaction style based on RPC (Remote Procedure Call). As such, many robotic frameworks today employ this interaction style. An alternate interaction style is REST (Representational State Transfer). In this style, instead of focusing on operations (procedures) as in RPC, the focus is on resources. In this paper we present a RESTful (REST compliant) architecture and its implementation for mobile robots. This architecture is compared with a classical RPC-based architecture in order to illustrate the benefits of REST in the field of network robotics based on open standards.
{"title":"A restful platform for networked robotics","authors":"R. S. Souza, Fernando Pinho, Leonardo Olivi, E. Cardozo","doi":"10.1109/URAI.2013.6677301","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677301","url":null,"abstract":"As mobile robots become part of large networked infrastructures, concerns about the integration of robots into distributed applications arise. Due to the predominance of the Web protocols, it is natural mobile robots to employ such protocols for interacting over the network with other applications. Information transfer protocols such as HTTP and SOAP allow parameters to be passed in their messages, leading to a client-server interaction style based on RPC (Remote Procedure Call). As such, many robotic frameworks today employ this interaction style. An alternate interaction style is REST (Representational State Transfer). In this style, instead of focusing on operations (procedures) as in RPC, the focus is on resources. In this paper we present a RESTful (REST compliant) architecture and its implementation for mobile robots. This architecture is compared with a classical RPC-based architecture in order to illustrate the benefits of REST in the field of network robotics based on open standards.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115998097","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677396
Hyo-Jeong Cha, Jaehong Woo, B. Yi, Chanhun Park
This paper deals with workspace analysis for a 3-RRR spatial parallel manipulator through changes of robot parameters as well as rotation angles of a ball-joint. Also, based on the tendency, the kinematic parameters and the rotation angle of the ball joint are determined to get a desired workspace.
{"title":"Workspace analysis of the DELTA robot according to robot parameters and ball joints","authors":"Hyo-Jeong Cha, Jaehong Woo, B. Yi, Chanhun Park","doi":"10.1109/URAI.2013.6677396","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677396","url":null,"abstract":"This paper deals with workspace analysis for a 3-RRR spatial parallel manipulator through changes of robot parameters as well as rotation angles of a ball-joint. Also, based on the tendency, the kinematic parameters and the rotation angle of the ball joint are determined to get a desired workspace.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122131006","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677505
Yong-Deuk Shin, Ga-Ram Jang, Jae-Han Park, J. Bae, M. Baeg
A robot should be able to recognize and estimate the pose of an object in order to grasp it. In addition, the robot should be able to infer the most reasonable strategy for grasping the object, which varies according to the type and pose of the object. In this paper, we design a grasping strategy engine for this purpose and suggest a method for recognizing and estimating the pose of an object with no two-dimensional intensity image. We also introduce our grasping data acquisition system (GDAS) for learning the best grasping strategy. The grasping strategy is composed of the approaching vector, opposition vector, and grasping type. In this paper, we use the iterative closest point (ICP) [1] algorithm for recognizing and estimating the pose of an object, along with an artificial neural network for selecting the best grasping strategy.
{"title":"Integration of recognition and planning for robot hand grasping","authors":"Yong-Deuk Shin, Ga-Ram Jang, Jae-Han Park, J. Bae, M. Baeg","doi":"10.1109/URAI.2013.6677505","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677505","url":null,"abstract":"A robot should be able to recognize and estimate the pose of an object in order to grasp it. In addition, the robot should be able to infer the most reasonable strategy for grasping the object, which varies according to the type and pose of the object. In this paper, we design a grasping strategy engine for this purpose and suggest a method for recognizing and estimating the pose of an object with no two-dimensional intensity image. We also introduce our grasping data acquisition system (GDAS) for learning the best grasping strategy. The grasping strategy is composed of the approaching vector, opposition vector, and grasping type. In this paper, we use the iterative closest point (ICP) [1] algorithm for recognizing and estimating the pose of an object, along with an artificial neural network for selecting the best grasping strategy.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115412629","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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