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Currently, absolute positioning methods for indoor flying robots use multiple cameras to measure position through image processing. However, such systems are large scale and costly. Therefore, we have developed a measurement and control system that uses ultrasonic waves. The system consists of a ground base with three ultrasonic transmitter units and a flying robot. The flying robot is equipped with...
Odometry is a widely used method for estimating the location of a mobile robot on even terrain; the use of attitude sensors has expanded the application of this method to three-dimensional space. To estimate the location of a mobile robot on uneven terrain, this expanded odometry integrates the velocity of the robot, the direction of which is fixed to the robot's orientation from the data measured...
This paper considers multiple mobile robots for hospital logistics application. To increase the efficiency of using multiple robots, more than one delivery tasks can be assigned to a robot instead of delivering one package at a time. Since a robot can accept more than one task while delivering, a real-time routing method for visiting multiple pickup and delivery positions is required. This paper proposes...
This paper proposes a new localization method for the mobile robots which should move to other floors using the elevators. The mobile robots use the various maps to obtain the spatial information, e.g. the floor numbers, the locations of waypoints, the structure shape of the spaces, etc. so that they can estimate the accurate position in the multi-floor buildings. As the maps in this paper, there...
In this paper, we present a human detecting system based on three-dimensional(3D) point cloud by discriminating between human and other objects by using range sensor. Although the shape of same objects seen from a sensor according to the difference of distance between the object and a sensor, we divided some areas in the vicinity of a sensor (about 0.3m∼5m) by the difference of distance. Then, we...
The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate...
The final goal of our research is to develop a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. To improve the motor function of the patient's paralyzed leg, a guided standing-up training is effective. The therapist controls the patient's left/right load balance by pulling or pushing the patient's waist during standing-up...
Many path planning algorithms have previously been proposed for mobile robots to navigate from a start to a goal location in a given map. These planners generate a path which keeps a safe distance from the obstacles in the map. However, most of the global path planners generate a path with sharp and angular turns which is not desired for robot motion as robots must stop at these turns. A smooth path...
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression...
In this research, ball Segway, a robot with three omnidirectional wheels balancing on a ball, is introduced. Translation while balancing is achieved by coordinating relative motions of the three omni-driving modules where each of them is composed of an omnidirectional wheel, a gear box and a smart motor. Kinematics and dynamics of the composed motion of the three omni-driving modules and the ball...
In order to provide highly compliant and powerful force, a series elastic actuator (SEA) has been developed and are now widely utilized. In spite of this characteristics as an ideal force source for safe human-robot interactions, SEA is considered difficult to design and control as its mechanical structure is complicated, namely it consists of a motor, a reduction gear, an elastic element and load,...
Modeling and planing a collaborative task for a human and a robot in an unstructured environment is a challenging problem. Most of earlier works simplify the task by assuming exact knowledge of the environment and the human intention, little work has been done on how to plan a collaborative task in the presence of uncertainty. However, there still exists a lot of challenges because of limited perception...
This paper present the method to estimate and compare the reaction force of end effector of 1-DOF manipulator using Proportional derivative with sliding perturbation observer (PDSPO) and sliding mode control with sliding perturbation observer (SMCSPO) without using any sensor. Simulation of 1-DOF manipulator is done in Matlab/Simulink from the generation of a mechanical model using SimMechanics Toolbox...
The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance...
We consider the problem of area coverage for robot teams operating under resource constraints, while modeling spatio-temporal environmental phenomena. The aim of the mobile robot team is to avoid exhaustive search and only visit the most important locations that can improve the prediction accuracy of a spatio-temporal model. We use a Gaussian Process (GP) to model spatially varying and temporally...
Tracking multiple targets is one of the important problems to make unmanned ground or aerial vehicles autonomously perform specific tasks. However, the tracking problem has several challenges due to factors such as limited field of view of sensors, unknown number of targets, and difficulty in predicting future movement of the targets. In this paper, the target tracking and estimation of the number...
This paper describes pipelines tracking robot on ground which detects magnetic filed from underground pipelines. This system has the advantage that can ensure a more objective data as compared with the measuring method by a person. The pipeline tracking robot has differential drive type base and one passive wheel which has suspension function. The robot has two magnetic strength detect sensors and...
The main purpose of this paper is to describe the method of group robot control in non-deterministic environments. Here the group structure is proposed for creation with the use of space lattice concept minimizing the computational cost for robot to determine its spatial position in the ranks of the structure. The stages of the solution of two interrelated tasks of robot group motion organization...
This paper presents a method of removing past data of dynamic objects by employing the Velodyne LiDAR sensor to accumulate points. In the first step, a fixed voxel map is created with the sensor position as the center. In the next step, we employ Bresenham's line algorithm to create three-dimensional line segments from the sensor position to all points in the current frame. Each element in the line...
This paper presents the design of a math-solving robot which has many potential applications in service, entertainment, and educational robotics. We design a robot scanning and recognizing a printed math problem on a paper and then writing an answer on it. We specifically attempt to solve magic square puzzles and compute simple calculation. Controlling motors and recognizing targets from low-cost...
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