In-Man Park

A study on stable walking control of biped robot on uneven terrain

We present a new technology for real-time walking of a biped robot. A biped robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.

A flexible control of robot hand with three fingers

In this paper we present an experimental performance for the validation of a robotic hand with three-finger applications. 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. 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 Stabilization of Walking and Working Motion of Biped Robot

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

A reel-time control for precise walking of bipped robot

This paper deals with the stable walking for a bipped robot, on uneven terrain, A bipped robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs bipped robot.

A study on grasping control of hand fingers 12 joints

Recently it is very important to control robot hands more compact and integrated sensors in order to increase compensate the grasping capability and to reduce cabling through the finger in the manipulator. As a matter of fact, the miniaturization and cabling harness represents a significant limitation to the design of small sized precise sensor. The main focus of this research is on a flexible grasping control of hand fingers, which consists of a flexible multi-fingered hand-arm system.

A study on travelling control of humanoid type mobile robot with three wheel

We Present a new technique to control of mobile robot for trajectory Tracking based fuzzy perception concept with robot named HMRO-I. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the HMRO-I Robot autonomous vehicle, demonstrate the robustness of the proposed method.

A real-time trajectory control of two driving mobile robot

We propose a new approach to control of mobile robot of trajectory following and fuzzy perception concept with a non-holonomic mobile robot named Robo N. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the SHH-Robo Robot autonomous vehicle, demonstrate the robustness of the proposed method.

A study on real-time control of mobile robot with two wheel

We propose a new approach to control of mobile robot of trajectory following and fuzzy perception concept with a nonholonomic mobile robot named ROBO-N. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the ROBO-N Robot autonomous vehicle, demonstrate the robustness of the proposed method.

A study on stable motion control of humanoid robot for unmanned FA

We present a new technology for real-time walking of a biped robot. A biped robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.