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About RISS
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RISS 처음 방문 이세요?
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고객센터
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RISS 활용도 분석
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최신/인기 학술자료
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해외자료신청(E-DDS)
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RISS API 센터
http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : 전정민(Jeongmin Jeon) (검색결과 6 건)
- 무료
- 기관 내 무료
- 유료
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황호연(Hoyeon Hwang),전정민(Jeongmin Jeon),정홍렬(Hong-ryul Jung),김수종(Sujoing Kim),문형필(Hyungpil Moon) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
Task planning and motion planning are needed to handle the task the robot wants. The task planning is represented by a graph structure map of vertices and edges. At the vertex, the robot manipulator information, position, and object’s position were shown, and the edge represented the behavior of the robot, which was represented by a graph structure. With information about objects in the graph structure, geometric constraints can be considered in task planning. The heuristic can be used in the graph search algorithm to find the optimal path for task planning. Motion planning and v-rep simulator allow you to see the results of task planning.
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모바일 조작 작업을 위한 역접근성 기반의 효율적인 베이스 재배치 방법
정홍렬(Hong-ryul Jung),전정민(Jeongmin Jeon),프란시스코 윰블라(Francisco Yumbla),문형필(Hyungpil Moon) 한국로봇학회(논문지) 2021 로봇학회 논문지 Vol.16 No.4
This paper proposes a new method to generate inverse reachability maps that are more efficient for mobile manipulators than the previous algorithms. The base positioning is important to perform the given tasks. Using the inverse reachability method, we can know where to place the robot"s base for given tasks. For example, the robot successfully performed the task with relocation, even when the target is initially in a low manipulability area or outside the workspace. However, there are some inefficiencies in the online process of the classical inverse reachability method. We describe what inefficiencies appear in the online phase and how to change the offline process to make the online efficient. Moreover, we demonstrate that the proposed approach achieves better performance than usual inverse reachability approaches for mobile manipulation. Finally, we discuss the limitations and advantages of the proposed method.
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