Real-Time Control of Mobile Robot Base on Voice Recognition

Nguyen Huu Cong,Byoung-Kyun Shim,Nguyen Van Quyet,Sung-Hyun Han 한국생산제조학회 2009 한국공작기계학회 추계학술대회논문집 Vol.2009 No.-

Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an RVR system which can robustly recognize voice by adults and children in noisy environments. We evaluate the RVR system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. The final hypothesis is selected based on posterior probability. We then select the task in the motion task library. In the motion control, we also integrate the obstacle avoidance control using ultrasonic sensors. Those are powerful for detecting obstacle with simple calculated algorithm.

Real-Time Adaptive Control of Robot Manipulator Based on Neural Network Compensator

Huu Cong-Nguyen,Woo-Song Lee,Chang-Jae Cho,Sung-Hyun Han 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the NN (neural network system) that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations and experiment of dual-arm robot manipulator.

Real-time Robust Control of Mobile Robot Using Ultrasonic Sensor

Huu Cong-Nguyen,Se-Bong Oh,Nam-Gu Kim,Dong-Jun Park,Sung-Hyun Han 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

This paper discusses the implementation of a binaural sensory pod using an ultrasonic emitter and two receivers on a mobile robot that employs legged-style locomotion. A series of obstacle avoidance behavior programmed onto a micro-controller allows the robot is to successfully navigate a cluttered environment both Semi-Autonomous and Automatically. Inspired by insects and other animals, robots have been designed with physical antennae and tactile sensors to navigate their environment. While insects have compliant, articulated antennae to sense their environment, mechanical antennae for mobile robots are usually less compliant and can possibly impede the robot while it is navigating difficult terrain. The use of non-contact sensors based on biological hearing can alleviate this problem. Inspired by the intramural time difference method of sound location, as used by larger animals, and using a self generated sound pulse, as in the echo location of bats, a binaural sensor pod was created using ultrasonic sensors.

A study on The Real-Time Implementation of Intelligent Control Algorithm for Biped Robot Stable Locomotion

Huu-Cong Nguyen(노연 후 콩),Woo-Song Lee(이우송) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

Grasping Control of Flexible Hand with Thirteen D.O.Fs

Huu Cong-Nguyen,Haeng-Bong Shi,Dong-Jun Park,Sung-Hyun Han 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

The increasing requirement for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which have the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have been carried out to develop artificial robot hands with capabilities similar to the human hand. In this paper we present an experimental performance for the validation of a robotic hand gripper for industrial applications. In particular this researches focus on the compatibility of the gripper with the Fara robot arm, developed by Samsung Electronics Co., Ltd. This hand gripper is the wide working space compared with its physical dimensions and the capability to deal with objects in working environment conditions. This capability is achieved by using force/torque sensor and by properly controlling and coordinating the gripper and the carrying arm. After a brief illustration on the main features of the gripper, the experimental activity is presented and the results achieved are discussed. This system also aims to substitute the astronauts in periodical operations with a semi-autonomous robotic device. Note that with this control structure, it is also very simple to connect the arm/gripper system using Internet to other computational resources or robotic devices, for example to emulate tele-operation tasks.

A Study on Robust Walking Technology of Humanoid Robots

Huu Cong-Nguyen,Haeng-Bong Shin,Sung-Uk Park,Sung-Hyun Han 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

This paper describes the obstacle avoidance architecture to walk safely around in factory and home environment, and presents methods for path planning and obstacle avoidance for the humanoid robot. Solving the problem of obstacle avoidance for a humanoid robot in an unstructured environment is a big challenge, because the robot can easily lose its stability or fall down if it hits or steps on an obstacle. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. A main technological target is to autonomously explore and wander around in home environments as well as to communicate with humans.

Integration of Robust Voice Recognition and Navigation System on Mobile Robot

Huu-Cong Nguyen,Shim-Byoung Kyun,Chang-Hak Kang,Dong-Jun Park,Sung-Hyun Han 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong powerby the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot’s own motions andpostures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In thispaper, we describe an RVR system which can robustly recognize voice by adults and children in noisy environments. We evaluate the RVR system in a communication robot placed in a real noisy environment. Voice is captured using awireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller (RGSC) technique and a feature-space noise suppression using MMSE criteria. Voice activity periods are detected using GMM-based end-point detection (GMM-EPD). The final hypothesis is selected based on posterior probability. We then select the task in themotion task library. In the motion control, we also integrate the obstacle avoidance control using ultrasonic sensors.Those are powerful for detecting obstacle with simple calculated algorithm

A Study on Image Feedback Control of the Articulated Arm with Four Joints for Unmanned FA

Nguyen Huu Cong,In-Man Park(박인만),Hyun-Suk Sim(심현석) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.4

We propose a new approach to design a visual feedback control system based on visual servoing method for unmanned FA. The main focus of this is to illustrate how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a robot manipulator with 4 joints made in samsung electronics company.

Real-Time Robust Control of Robot Manipulator Based on Neural Network Compensator

Huu-Cong Nguyen,Van-Quyet Nguyen,Oh, Se-Bong,Han, Sung-Hyun 한국공작기계학회 2009 한국공작기계학회 춘계학술대회논문집 Vol.2009 No.-

This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the neural network (NN) system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations and experiment of dual-arm robot manipulator.

모바일로봇 장애물회피 제어

심병균,Nguyen Huu Cong,김준홍,조창제,한성현 한국공작기계학회 2009 한국공작기계학회 춘계학술대회논문집 Vol.2009 No.-

This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.