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This paper introduces an experimental rescue robot, HUBO T-100 for a development of a Korean rescue robot with a large load carrying capacity and presents its optimal motion control methods. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. Another mission...
Soldiers often should carry heavy loads on their back for a long time during military operations. To this end, exoskeleton robots have been developed to enhance mobility and reduce the muscle fatigue caused by heavy loads. This paper presents a locomotion control strategy for a hydraulic lower extremity exoskeleton robot developed for military purposes. The robot utilized the dual-mode control scheme,...
This study dealt with the on-task adaptive design of the end effector for human rescue robot based on the human rescue scenario. According to the scenario, the robot should scoop the wounded up in her dual arms. In order to perform this rescue action, the design issue of end effector is to "easily shovel it under the human body and have no additional damage after rescue." Three different...
This paper introduces the Korean rescue robot and presents the kinematic and dynamic control method. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. In order for robots to rescue and assist humans in various environments, reliable mobility and dextrous...
There are many applications of radar imaging and radar vision. Such systems can be used for intrusion detection, concealed weapons detection, monitoring of various constructions etc. 3D radar images can give detailed and precise information about spatial distribution of scatterers. Such images can be generated using SAR principle. Conventional SAR uses one dimension synthetic aperture which gives...
A new approach is presented for 3D shape recovery of local planar surface patches from two shift/space-variant defocused images. It is based on a recently proposed technique for inverting the shift-variant blurring in a camera system. It is completely localized, applicable to general point spread functions, and facilitates fine-grain parallel implementation and computationally efficient recovery of...
A new localized and computationally efficient approach is presented for shift/space-variant image restoration. Unlike conventional approaches, it models shift-variant blurring in a completely local form based on the recently proposed Rao transform (RT). RT facilitates almost exact inversion of the blurring process locally and permits very fine-grain parallel implementation. The new approach naturally...
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