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In order for a robot to handle various objects and perform or assist the tasks of a person, the robot has to be similar to the hand of a human and manipulation tools with the same functions were necessary. To properly perform such object manipulation functions, research and development of manipulation tools with integrated sensor technology utilizing sensors are being pursued. Although the force-torque...
In this paper, we propose a system of the security robot and its software architecture. The software architecture consists of two parts, which are an autonomous navigation part and a semantic perceptron part. Autonomous navigation software can drive a robot autonomously. An semantic perception software can perform the security missions. The security patrol scenario compromises three steps. In the...
This paper proposes the behavior learning algorithms for improving the performance of unmanned underwater vehicles (UUVs). Basically, the motion of a UUV with behavior-based controls is determined by the behaviors' outputs which are calculated based on the uncertain dynamic models. Therefore, the performance of a UUV can be improved by learning the dynamic models. For this purpose, the perturbation...
This paper considers a spatial-temporal hierarchical topic model for video scene analysis and irregular behavior detection in crowded traffic scenes for intelligent video surveillance. Previous probabilistic topic model algorithms, which are based on the bag-of-words representations of visual features, ignore the temporal dependencies of word occurrences. Thus, it is not suitable for analyzing sequential...
Nowadays, there have been many researches about 7 DOF robot arm like human arm for better dexterity. Therefore, human-like motion is an important issue for the design and the control of the robot. In the paper, human motion of packing or assembling in the cellular phone manufacturing cell is analyzed to make a proper design of dual arm robot.
Active Shape Models (ASM) is a generative model widely used to model faces. ASM has been successfully used for face and emotion recognition, and it is one of the state-of-the-art approaches because of its efficiency and representational power. Although widely employed, applying only ASM is not adequate for the practical applications, because positions of the facial landmarks are unstably extracted...
Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The industrial dual-arm robot can assemble the complex product in such way human do. We arm developing the dual-arm robot which has the function of assembly of IT products such as the mobile phone and LCD/LED panel...
The performance of input shaping control has been conventionally estimated by a sensitivity function V, but the numerical relationship between the sensitivity function V and maximum residual vibration has not been clear in a quantitative viewpoint. In this paper, we define clearly the sensitivity function in impulse response and step response graphically, and then present the relationship between...
This work introduces a continuum module for developing a biopsy device. A unit continuum module has 2 DOF, consisting of multiple springs and multiple cylinders. This continuum can be bent up to 180 degrees and it has small radius of curvature. The kinematics for this continuum is provided. A 5 DOF biopsy device is developed by assembling two continuum modules and it can be applied to take sample...
Our goal is to develop the 13 DOF dexterous robot hand. For this, we designed a new robot hand by improving previous developed robot hand and by analysis of human hand. This robot hand is the type of motor driven and includes a fingertip tactile sensor, a joint torque sensor, fingertip 6-axis-force-torque sensor and an embedded board. For performance evaluation of a designed robot hand, we worked...
Part handlings based on solid-to-solid contacts such as pick-and-place with a gripper or transporting by a conveyor belt are very common in automation systems. In case of handling frasile or flexible objects, it is required to manipulate an object without using direct solid-to-solid contact between the object and a tool. We introduce an air-jet table that can manipulate a flat object by changing the...
This paper presents the design and kinematic analysis of a home service robot that is aimed for performing not only table tasks but also floor tasks. The robot has a structure of a mobile manipulator that has two wheels and two arms. One typical design of the robot is to have long arms to reach objects on the floor with ease. The robot is beneficial to homes where people live on the floor. The robot...
This paper presents the novel contact force control approach of a quad-rotor system to interact with the environment in the constrained space. Although the quad-rotor system is not rigid, a contact force in the altitude can be regulated by the position-based impedance force control scheme that adjusts the reference trajectory with respect to the applied force through an admittance filter. This simplifies...
In this paper, the mobile robot attached ultrasonic sensor, it can be obtained from measured ultrasonic sensor data according to the distance of obstacle using haptic joystick, it can be precisely controlled the velocity of mobile robot. The haptic is that can be composed vibration at the bottom of the joystick to attach small motor, the haptic can be implemented using the voltage of motor change...
We present preliminary results on the passive velocity field control (PVFC) of the quadrotor-type UAVs, which allows the quadrotor to follow the direction of a given velocity field while enforcing passivity of the closed-loop system. Some theoretical results are presented along with a simulation result.
Recently, fast and accurate motion of an underwater robot becomes a key issue because overall efficiency and quality of missions such as underwater structure inspection, underwater mapping, and underwater surveillance highly depend on the low-level control performance. In particular, accurate heading control performance has great influence on horizontal motion quality. However, thruster nonlinearity...
This paper presents a collision force suppression mechanism that is installed in the shoulder and elbow joints of a 5-DOF manipulator. The collision suppression mechanism consists of an air cushion bag, a transmission rack, a clutch gear and two compression springs. If the manipulator collides with an object or a human when the end-effector of the manipulator follows a target trajectory, the manipulator...
There are a lot of researches on the path planning algorithm for those of the unmanned vehicle. Previous researches related to the path planning mainly focused on finding the shortest path on the given map. However, on the battle field, if the vehicle just moves along the shortest path, it could not reach the goal, because of the enemy's attack. Therefore it's necessary that the new path planning...
Pushing is one of many object manipulation strategies that requires interaction with the environment. Many force control approaches have been proposed for such manipulation. In a force controller implementation for a humanoid robot, however, there is no fixed base. If the required reaction force is greater than the humanoid robot can support, the robot will lose its balance. This paper presents a...
The speed of face detection influences overall performance of applications like face recognition and human-robot interaction (HRI). In some applications such as long distance HRI, face detection is carried out on high resolution image up to 800×600 or more, leading to an increase in detection time and, in turn, deteriorating the application performance. To improve the speed of face detection, we propose...
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