The Position/Orientation Determination of a Mobile-Task Robot Using an Active Calibration Scheme

Jin, Tae-Seok,Lee, Jang-Myung The Korean Society of Mechanical Engineers 2003 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.17 No.10

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

2륜 이동로봇의 합리적인 하드웨어 설계 노하우 : 세그웨이를 중심으로

조정우(Joh Jung-Woo),박귀태(Park Gwi-Tae) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5

In this paper, we discuss how to design 2-wheeled mobile robot hardwares as reasonable and practical as possible. A segway type mobile robot consists of 2 wheels only, placed in parallel rather than horizon. 2-wheeled mobile robots make you overcome high cost and time consuming maintenance procedures of the robot by reducing the number of robot hard wares. The most challenging thing in a 2-wheeled mobile robot that has many more valid virtues than the traditional mobile robots is to make it balance itself whenever it stands still or goes forward. But balancing itself is not an easy matter and there are many researches and experiments on this issue. When researchers test theories on 2-wheeled mobile robots to improve its self balancing performance, they should consider how to design hard wares of that mobile robot. No matter how great those new theories are, if a testbed for those theories is not suitable, performance output would be poor and meaningless. In this point of view, to design a proper 2-wheeled mobile robot as a testbed is a very important issue with development of new theories. So we define 4 guide lines to design segway type mobile robots reasonably; about motor, battery, and MCU selection and shock-proof design with robust motor setting.

높이 조절 및 하체 분리형 실내용 서비스 이동 로봇의 제작 및 제어

안재국(Jae Kook Ahn),정슬(Seul Jung) 大韓電子工學會 2011 전자공학회논문지SC (System and control) Vol.48 No.1

본 논문은 실내에서 사용할 이동로봇의 구현과 제어에 대한 것이다. 로봇은 두 팔을 가지고 이동할 수 있는 베이스로 구성된다. 로봇은 디자인에 있어 몇 가지 특징을 가진다. 첫 번째, 로봇의 허리는 높낮이 조절이 가능하다. 두 번째로 로봇은 4점 접촉인 이동로봇 모드에서 2 점 접촉인 밸런싱 모드로 전환이 가능하다. 마지막으로 로봇은 상체와 하체의 분리 기능을 갖는다. 이동 베이스 부분은 청소작업에 사용이 가능하다. This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot arm and the mobile robot as well. The mobile base can be separately used for a cleaning service.

Optimal Parameter Setting of Optical Mouse based Mobile Robot Traveling Simulator

Sungbok Kim,Seyoung Choi 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

This paper presents the optimal parameter setting of the traveling simulator of a mobile robot equipped with optical mice. Through the rotation of a traveling surface sample relative to stationary optical mice, the mobile robot traveling simulator can generate the measurements of optical mice as close as possible to the measurements of optical mice equipped on a mobile robot. For a given velocity of a mobile robot, the controllable parameters of the mobile robot traveling simulator can be changed, which include the installation distances and angles of optical mice. First, for the optimal parameter setting of the mobile robot traveling simulator, the cost function is defined as the discrepancy between the commanded and simulated measurements of optical mice, assuming that the rotational speed of a surface sample is fixed. Second, for 1 DOF and 2 DOF designs of the mobile robot traveling simulator, the optimal values of the controllable parameters of the mobile robot traveling simulator are determined by minimizing the cost function. Third, for a hybrid velocity profile of a mobile robot, simulation results of the mobile robot traveling simulator are given, to demonstrate the parameter setting and simulation capability of 2 DOF design.

융복합기술을 활용한 G-Robot 프레임워크 구현

박영식,김도현,권성갑,양영일,Park, Young-Sik,Kim, Do-Hyun,Kwon, Sung-Gab,Yang, Yeong-Yil 한국융합신호처리학회 2010 융합신호처리학회 논문지 (JISPS) Vol.11 No.4

In this paper, we propose G-Robot framework implemented with the fusion technology called RITS(Robot Technology & Information Technology System) for robot control and remote monitoring using the mobile phone. In our implemented system, the mobile phone mounted on the robot controls the robot and sends the images to the mobile phone of the user. We can monitor surrounding area of the robot with mobile phone and control the movement of the robot by sending the data between mobile-phones. Also, if the predefined situation occurs to the robot, the mobile phone on the robot sends the data to the mobile-phone of the user. From the experimental result, we can conclude that it's possible to control the robot and monitor surrounding area of the robot in real time in the region where the 3G(Generation) communication is possible. In addition, we can control the robot using the bluetooth instead of the mobile phone communication if the robot is in visual range.

Visual Servoing of a Wheeled Mobile Robot with the Obstacle Avoidance based on the Nonlinear Optimization using the Modified Cost Function

김곤우(Gon-Woo Kim) 대한전기학회 2009 전기학회논문지 Vol.58 No.12

The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We propose an image-based visual servo navigation algorithm for a wheeled mobile robot utilizing a ceiling mounted camera. For the image-based visual servoing, we define the composite image Jacobian which represents the relationship between the speed of wheels of a mobile robot and the robot's overall speed in the image plane. The rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot in the image plane using the composite image Jacobian. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the image error between the goal position and the position of a mobile robot. In order to avoid the obstacle, the modified cost function is proposed which is composed of the image error between the position of a mobile robot and the goal position and the distance between the position of a mobile robot and the position of the obstacle. The performance was evaluated using the simulation.

개체 엔트로피와 이동 특별 네트워크를 이용한 이동 로봇의 그룹핑 알고리즘

김상철(Sang-Chul Kim),이지원(Ji-Won Lee),신기현(Kee-Hyun Shin) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6

This paper proposes a novel grouping algorithm for mobile robots to perform a specific work. The concepts of mobile ad hoc network and entropy are adapted to analyze the grouping of mobile robots. The performance metrics such as the number of message in order to make a robot group and the average number of robots in a logical robot group are newly derived. A logical robot group is created based on the exchange of request and reply messages in a robot group that depends on a transmission range. When a robot tries to a specific work in a robot group, it broadcasts a request message with a certain level of entropy threshold. After receiving the request message, each robot in a robot group checks the threshold value with its threshold value whether the requested value is greater than its value. If it is, the robot responses by sending a reply message to the requested robot, otherwise the robot discards the request message. Whenever, a robot in a robot group sends a reply message, it will become one of member of logical robot group. The proposed algorithm has been verified based on the computer-based simulation.

Mobility-Aware Ad Hoc Routing Protocols for Networking Mobile Robot Teams

Das, Saumitra M.,Hu, Y. Charlie,Lee, C.S. George,Lu, Yung-Hsiang The Korea Institute of Information and Commucation 2007 Journal of communications and networks Vol.9 No.3

Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.

A Review on the Force Sensing and Force Feedback-based Navigation of Mobile Robots

Woojae Lee,Hyungchan Joo,Yoon-Koo Kang,Tae Won Seo 한국정밀공학회 2025 International Journal of Precision Engineering and Vol.26 No.5

Autonomous mobile robots are increasingly being used in modern society. With the development of mobile robot technology, robots are becoming usable in a wider range of locations. Beyond the context of transferring goods from factories to other locations, the demand for mobile robots has increased owing to tasks performed in restaurants, hospitals, and smart farms, as well as services such as the transportation of heavy goods, monitoring, and search and rescue missions. Various studies have been conducted on the importance, applications, and tasks of autonomous mobile robots. Obstacle recognition, avoidance, and work are performed using various sensors equipped by these robots. This review paper describes these sensors and addresses the current literature involving the force sensing technology used by mobile robots. It presents the sensors and general convergence technologies used in mobile robots, as well as a comprehensive study on the force sensing of autonomous mobile robots, and explains the relevance, strengths, and weaknesses of these technologies. Navigation research technology is explained according to the occurring force and the purpose of the robot. This study can support further investigations into the development of a method to solve the force-sensing problem faced by autonomous mobile robots.

A Unified Approach of Denavit-Hartenberg Representation to Kinematics Equations of Two-wheel Mobile Robots for UndergraduateRobotics Education

Seul Jung,Yeong-geol Bae,JeongHyeong Lee,Hyungjik Lee,Hyun Wook Kim 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

A two-wheel mobile robot is a kind of balancing system of which two-wheel torques control the balancing angle as well as the position of the robot. The robot is a combined system of a wheeled mobile robot and an inverted pendulum, which is a non-holonomic and under-actuated system. The robot is constrained in kinematics and driven by two-wheels. The kinematics equations of two-wheel mobile robots are derived from Denavit-Hartenberg (D-H) parameters for drawing the robot postures for an effective undergraduate robotics education, which are used for the derivation of the kinematics of serial robot manipulators. Assuming the wheel movement as a linear joint motion and the heading angle as a revolute joint motion, the kinematics of the two-wheel mobile robots can be derived from the D-H configuration to draw the robot postures.