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An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the leg comes to go over the threshold of preferred...
Rotation is one of efficient transportation method for big or heavy object. For implementing the rolling operation to the small and light weight robot, the friction control is necessary considering its movable range, balance and actuator power. In this paper, we propose a new rolling manipulation by using whole body motion for multi-legged robot. The weight shift control is implemented considering...
A work cell is generally designed to achieve a high throughput and its size is typically viewed as contingent to component sizes. In this paper, we aim to design a compact work cell (spatial requirement) and to minimize its task completion time (temporal requirement) to a value set as a constraint. By doing so, a work cell occupies a minimal space and achieves its desired throughput. The work cell...
During the human-robot cooperation assembly process, detecting an operator's position not only protects the operator, but can also predict the operator's intention according to his position. This paper describes an image-based operator monitoring system based on the direct linear transformation (DLT) method. To overcome the changing light conditions in actual factories, a special color filter method...
A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it...
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