The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper addresses attitude estimation for UUVs(Unmanned Underwater Vehicles) using low-cost MEMS(Microelectromechanical Systems) AHRS(Attitude Heading Reference System). It compares extended Kaiman filter, unscented Kaiman filter, and complementary filter method used for attitude estimation. The experiment uses the estimated attitude for localization of a UUV(Unmanned Underwater Vehicle) based...
In this paper, we propose a multi-task scheduler by considering the underwater risk assessment for autonomous underwater vehicle. We divide the task scheduler into two parts: a path coordinator and a condition interpreter. The path coordinator finds the minimum cost sequence from several combinations of paths by using a genetic algorithm. The condition interpreter limits high risk paths such as obstacle...
This paper introduces a semantic synthesis method that enables robots to generate human-like gestures by recognizing cognitive and emotional behaviors based on a given situation. Assuming that the human cognitive process is represented as a series of associated events, we proposed a virtually touchable space associated with robotic hands. Additionally, in a humanoid robot, the motions of two arms...
Path planning for autonomous parking control is difficult and complicated because of its non-holonomic constraints. We proposed the parking path planner KPP (Korea University Path Planner) in our prior work. The purpose of this paper is to prove the advantages of KPP through quantitative and qualitative analyses. Numerical simulations have been carried out for comparison. This paper shows that KPP...
This paper describes the design of a new 1-axis torque sensor that consists of two different type spokes. The sensor has three trapezoidal shape spokes and three support spokes. It serves a double purpose that the sensitivity and stiffness for driving torque. We suggest trapezoid-typed spokes rather than conventional rectangular-typed spoke for sensitivity, and support spokes are used to tolerate...
This paper proposes a real-time optimization method for the high-fidelity of human motion imitation using a marker-based motion capture system. Although many ways to generate realistic synthetic motions from the capturing data have been developed, there are common problems related to marker occlusion. Our approach is useful for getting over marker occlusion in real-time system environments, and this...
A common robot cleaner uses complete coverage path planning (CCPP) with a map gotten by simultaneous localization and mapping (SLAM) [1] and it only contains geometrical information. For effective cleaning task, a cleaning robot should consider not only the geometrical map but also domestic properties and a user's preference. This paper suggests an experience based cleaning algorithm of a robot cleaner...
The 4-Wheel Skid-Steering Mobile Manipulators (4W-SSMM) have been widely used in many complex task environments, in which, it often encounter all sorts of complicated driving conditions. In these situations, excessive slipping would be likely to happen, and the robot's tracking stability cannot be assured. In order to solve this problem, a stability control scheme which is based on the slip ratio...
The humanoid robots Justin and Toro at DLR are equipped with joint torque sensors, which allows to implement compliant motion control via highly sensitive impedance behaviors. The control framework presented in this work has been developed using a passivity-based argumentation and avoids feedback cancellation of the natural dynamics. In this overview also the extension to multiple task hierarchies...
In this paper, we proposed a novel supervised feature extractor named as class-augmented independent component analysis (CA-ICA) whose performance can be maintained even after the input variables are varied, only if new input variables are still linear combinations of the same independent sources as old input variables were. This property can be useful in implementing an sEMG decoder robust to the...
Currently existing dynamic models for a two-wheeled inverted pendulum mobile robot have some common mistakes. In order to find where the errors of the dynamic model are induced, Lagrangian method and Kane's method are compared in deriving the equation of motion. Numerical examples are given to illustrate the effect of the incorrect terms. Finally, a complete dynamic model is proposed without any error...
A three finger hand exoskeleton is designed and controlled for translation of a slender object held at the finger tips. The design incorporates actuation of the three flexion/extension joints of the index and middle fingers. For the thumb exoskeleton, a design is proposed with two degrees of freedom. First, trajectory data of all the phalanges for translation of a slender object are obtained through...
We present a moving objection detection method robust to shadow effects and illumination changes on a static camera. This study addresses the effect of the declining sun at evening, which produces elongated shadow of objects. The illumination condition of the evening time is more rapidly changed. These two factors can affect the quality of the moving object detection. We deal with these artifacts...
This paper presents human segmentation using parts of human body shape, which is for recognizing human pose on sports simulator. It is very difficult to segment human body in unsettled environment which includes various clothes style, illumination or the shape of human body. Principle feature points are extracted in seven parts of the human body: head, shoulder, elbow, hand, hip, knee, and foot. Five...
This paper presents two contributions for the path planning for motion, and convergent global trajectory tracking, which assistance to autonomous vehicle. The path planning for motion is processed by two stages: road network detection and the shortest path estimation for vehicle motion. A road network is detected using the road map images based on image-processing techniques such color filter, segmentation...
Due to the challenging environmental conditions and characteristics, the complexity of the corrosion inspection operation increases. By using software image filter to enhance image data, the object recognition technique will be able to analyze the image data accurately. A selected software filter, wavelet de-noising has been identified to enhance image data for visual corrosion inspection application...
In order to get full 3D model from consumer depth cameras, previous approaches used set of synchronized depth cameras or moved the depth sensor around the target object. This on-going work introduces a cost effective and convenient framework for filming dynamic 3D object. This set is comprised of a consumer depth camera, or RGBD sensor and a pair of mirrors. Because of the images reflected from two...
A sound signal following control of a mobile robot with the estimation of the sound source location has been implemented in this research using a microphone array. The geometry of the microphone array and the traveling time difference of the sound signal depending on the distance provides the two dimensional coordinates of the sound signal. To detect the same transmission moment of the sound signal,...
In this paper, in order to have stable haptic interaction, we present an extension of memory-based passivation approach for 6 degree-of-freedom (DOF) haptic rendering while interacting with high stiffness virtual environment. We introduce a 6-DOF massless virtual proxy which is connected to the moving object on every DOF by a massless spring. Then, unlike the conventional memory based passivation...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.