분류 전체보기 (152) 썸네일형 리스트형 Collision Avoidance Collision Avoidance. * 김석규 * 연구내용 인간과 공존하는 환경에서 로봇이 장애물과 충돌하지 않고 주행하는 기술은 필수적이며 현재 세계적으로도 충돌 회피에 관련된 많은 연구가 진행 중이다. 현재 널리 알려진 충돌 회피 알고리즘은 거리 센서로 얻은 장애물에 대한 위치 또는 환경 지도에 대한 정보만을 이용하여 경로를 계획하거나 속도, 방향을 제어함으로써 장애물을 회피하는 방법이 대부분이다. 하지만 실제 환경에서는 교차로나 문에서 나타나는 사람들과 같이 갑자기 나타나는 장애물로 인하여 충돌회피가 어려운 상황이 존재한다. 본 연구에서는 이러한 위험지역, 상황을 모델링하고 로봇 스스로 주행하면서 검출하여 보다 능동적으로 대처하는 연구를 진행하고 있다. * 연구결과 창의관 6층 환경에서 주행실험을.. Autonomous map building and localization of a service robot 9) Autonomous map building and localization of a service robot Figure 14: Localization at the dynamic indoor environment Three maps are employed for applications. 1) Information map used as a user interface 2) Topological map for global path planning. 3) a local grid map for local path planning and localization by map-matching scheme. Accurate environmental maps can be obtained by developed scan.. Manipulation of the Service Robot PSR1 8) Manipulation of the Service Robot PSR1 Figure 13: Door opening manipulation of the PSR1 One of the major research issues of the PSR1 is a mobile manipulation application. A door opening control is successfully carried out by coordinative manipulation of a hand, a manipulator and a mobile base. By exploiting fingertip force sensor information and a kinematic structure of the multi-fingered han.. Museum tour guide robot Jinny 7) Museum tour guide robot Jinny Figure 12: Guide robot Jinny The Jinny is a museum tour guide robot. It can navigate in a cluttered environment, surrounded by human beings. A visitor can ask Jinny about an exhibition, as well as various informations such as weather, traffic information. Voice synthesis using a knowledge base reasoning algorithm and an internet connection enables information pro.. Control Architecture Design and Implementation 6) Control Architecture Design and Implementation Figure 11: Designed control architecture for the service robots Major hardware components of the service robot are a mobile robot, a hand, a manipulator and passive trailers. There are also various functional software modules such as localization, path planner, task planner, kinematic control, eye-in-hand visual servoing and so forth. In order to.. Design and Control of a Multiple Trailer System 5) Design and Control of a Multiple Trailer System Figure 10: A prototype of the passive trailer and motion control experimental results A passive trailer system is a typical example of nonholonomic underactuated system and there are many interesting design and control issues. At the University of Tokyo, I have worked on the design of a chained form convertible trailer kinematics and control pro.. Design and Control of a multi-fingered Robot Hand 4) Design and Control of a multi-fingered Robot Hand Figure 9: A three-fingered dexterous robot hand Although there have been a lot of previous researches on the robotic hand mechanism, a few of them can be used in practical applications. The major design objectives of robot hand are 1) compact size, light weight mechanism 2) an integrated system should be compact 3) capability of grasping vario.. Autonomous Navigation of the Indoor Service Robot PSR 3) Autonomous Navigation of the Indoor Service Robot PSR Figure 7: PSR-1(Public Service Robot) Figure 8: PSR-2 and experimental result of navigation One of my current research scopes is to achieve autonomous navigation of an indoor service robot. Our primary objective is to carry out a delivery task in office environments. A holonomic omni-directional wheel mechanism is developed, then fabricate.. 이전 1 ··· 13 14 15 16 17 18 19 다음
