Eun-Cheol Shin

Design of complex cognitive functions for manipulation using OPRoS sensor components

A robot can be composed of many types of sensors and actuators according to its own use. Moreover, these sensors build up to complex sensor modules in various ways in order to make the robots working in the dynamic environments complete its missions. For the adaptation, it is required to make a robot of which software can be reconfigured easily according to robot missions and working conditions. However, it is very difficult to provide the compatible ability for a manipulator when the robot execute its mission exactly in a structured environment and handle many types of events in dynamic real world. Therefore, we suggest robot software templates which various manipulation functions are achieved based on with slight effort. For this aim, we suggest abstracted sensor model components and state machine components which connect the components with other functional components. Finally, we implement our robot software on multi-core system in order to meet real-time needs including low-latency and strict period time and use a robot middleware, OPRoS (Open software Platform for Robotic Services).

Comparing two methods for acquiring 3D data of motion capture system by using PSD camera and CCD camera

This paper presents a monocular PSD-based motion capture system and CCD camera based system. The first system includes a PSD (Position Sensitive Detector) and active infrared (IR) LED markers that are placed on the object to be tracked. The PSD sensor is placed in the focal plane of a wide-angle lens. The microcontroller calculates the 3D position of the markers using only the measured intensity and the 2D position on the PSD. The second system includes two CCD camera and LED markers that are in hand and draw any motion trace. From the experimental results we see that the two kinds of methods for acquiring 3d data will be compare in accuracy, speed, process, methods, experimental circumstance.

Estimation of human arm impedance in accordance with the master device types and gripping posture

In the teleoperation system, several researches are under investigating to carry out remote task effectively by measuring or estimating master operators impedance and transferring the impedance to slave robot. However, previously proposed method provide equal amount of impedance for different axis so the method cannot guarantee transparency. Even if accurate amount of impedance are transmitted to each orthogonal axis, there exists disadvantage that the overall teleoperation system becomes complicated. In this paper, a novel impedance estimation method is proposed by utilizing grasping posture of the master operator. The proposed teleoperation system is composed of 1-dof force sensor and a commercial haptic master device. Thus, for each posture when the operator grasps the master device, operators impedance is transmitted to the slave robot for each direction. Two experimental tests were conducted to show its feasibility by measuring amount of operators position change and impedance when two different kinds of master feedback force were transmitted to the operator. Moreover, during teleoperation task of opening a door, an experimental test was carried out to show the effectiveness of the proposed method by comparing constant impedance case and the proposed method.

Transmission of operator intention impedance using phantom haptic device

By changing the impedance of a manipulator according to the target object and the type of operation, it is possible to improve the operation efficiency. Researches on how to change the impedance of a slave manipulator in a tele-operation system according to the intention of an operator are underway. However, in most cases, change of the impedance is applied to all directions by the same magnitude or applied only to a certain direction set by the type of operation, since differentiating the impedance by direction usually increases the complexity of a system or its costs. In that context, the present paper proposes a method to measure the direction and magnitude of operator intention impedance only with the existing master device and a single-axis force sensor by detecting the position of the operators arm and the grip of the operators hand holding the master device. Also, the paper demonstrates the practicality of the proposed method through an experiment with a Phantom haptic device to which an FSR a single-axis force sensor, is integrated.

Measurement of human arm impedance using the human arm posture

In a tele-operation system, the work efficiency can be improved by altering the impedance of a slave robot in accordance with the characteristics of the work. The impedance intended by an operator should be measured because the impedance of a slave robot should reflect the intention of the operator. Besides, the measured impedance should be obliged to include the information of its value and direction. In this paper, the method of using a single-axis force sensor as well as the posture of an operator is proposed so as to measure the value and direction of the impedance intended by the operator. Also, the proposed method is applied to Phantom that is widely used in tele-operation systems to validate its usefulness.

An approach to composition of OPRoS based components and its interfaces to reuse control algorithms for service robots

In this paper, composition of components based on OPRoS and its interface for software service robots are described. The service robots have large variety of functionalities, such as navigation, manipulation and recognition. Due to the complexity of software with variety software modules, reusability and portability of software become important. In recent year, in order to increase the reusability, based on components software is developed to use for robot software. However, because the composition of components for robot applications and interfaces of components are not properly defined, its portability is not well guaranteed. In this paper, a new approach to the composition and interfaces of components for navigation, manipulation and recognition applications are suggested to increase the portability. Finally, the paper shows that the suggested method is efficient and useful for that purpose.

Implementation of reactive behaviors for an industrial manipulator based on OPRoS

It is important that robots in a factory execute its mission exactly in a structured environment and handle many types of events in dynamic real world. The former is related to punctuality and the latter is related to reactivity or dependability. But it is very difficult to prepare robot S/W with dependability and punctuality at the same time for the industrial manipulators because general S/W fails to meet real-time requirements. Therefore, we suggest a method how to make industrial robot software have reactive semantics. For this aim, we use OPRoS (Open software Platform for Robotic Services) and application centric language interpreter. In this framework, state machine component connected abstracted sensor model components invoke signal to an interpreter component in order handle various external operation conditions. And the interpreter determines which robot behaviors will executed for the signals and make suitable robot behavior components work. Finally, we implement our robot software on mulit-core system in order to meet real-time needs including low-latency and strict period time.