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22대 대한민국 국회 국회정보길라잡이 국회의원검색
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A new human-following robot with a tether steering mechanism is proposed that could be useful in the case of carrying luggage or as a jogging companion. In a crowded or cluttered environment, tether steering has certain advantages over non-contact methods using a camera, laser range finder, or ultrasonic transponder. The proposed robot has a modular architecture that consists of a steering module and two driving modules that communicate with each other using Zigbee wireless communication technology. In addition, motion control algorithms are introduced to provide effortless maneuverability when using the tether steering. A human adaptive algorithm is proposed that estimates the user’s walking velocity to allow the robot to keep pace, while an environment adaptive algorithm performs semi-autonomous navigation to avoid collision with corner shaped obstacles. Experimental results demonstrate the effectiveness of the proposed humanfollowing robot.

권호기사

권호기사 목록 테이블로 기사명, 저자명, 페이지, 원문, 기사목차 순으로 되어있습니다.
기사명 저자명 페이지 원문 목차
Micropatterning on roll surface using photo-lithography processes Sang Lyoul Kim, Gyu Man Kim pp.763-768

(A)glass thickness measuring system using the machine vision method Jae Beom Park ,Jong Gun Lee ,Min Ki Lee ,Eung Suk Lee pp.769-774

Development of a theoretical model to predict cutting forces for hard machining Tae Hong Lee pp.775-782

Ultrasonic satellite system moving object positioning by extended Kalman filter Kang Sup Yoon ,Su Yong Kim ,Ju Yong Choi pp.783-790

Modular design of a product to maximize customer satisfaction with respect to body size :a case study for designing office chair Sang-Chul Hwang ,Young Choi pp.791-796

Visually guided 3D micro positioning and alignment system Jung Hyun Kim pp.797-803

Optical distance control for a multi focus image in camera phone module assembly Hyung-Tae Kim ,Sung-Bok Kang ,Heui-Seok Kang ,Young-Joon Cho ,Jin-Oh Kim pp.805-811

Evaluation of tension-compression and tension-tension fatigue life of woven fabric glass/epoxy laminate composites used in railway vehicle Kwang-Woo Jeon, Kwang-Bok Shin, Jung-Seok Kim pp.813-820

Thermo-mechanical finite element analysis of hot judder phenomenon of a ventilated disc brake system Sung Pil Jung ,Tae Won Park ,Jang Bom Chai ,Won Sun Chung pp.821-828

Improvement of positioning accuracy of magnetostrictive actuator by means of built-in air cooling and temperature control Yong-Kil Kwak ,Sun-Ho Kim ,Jung-Hwan Ahn pp.829-834

Development of a new gerotor for oil pumps with multiple profiles Sung-Yuen Jung ,Jun-Ho Bae ,Moon-Saeng Kim ,Chul Kim pp.835-841

(An)experimental study on fatigue safety life assessment of aircraft engine support structure Jang-Wook Hur pp.843-848

Optimum design of an active micro-mixer using successive Kriging method Su-Pil Ryu, Jae-Yong Park, Seog-Young Han pp.849-855

Comparison of the numerical and experimental results of the sheet metal flange forming based on shell-elements types Abbas Vafaeesefat ,Morteza Khanahmadlu pp.857-863

On the size effect for micro-scale structures under the plane bulge test using the modified strain gradient theory Hunkee Lee, Bongbu Jung, Dongseob Kim, Hyunchul Park pp.865-870

Geometric optimization of micro drills using Taguchi methods and response surface methodology Hae-Sung Yoon, Renzhe Wu, Tae-Moo Lee, Sung-Hoon Ahn pp.871-875

Sub-micro to nanometer scale laser direct writing techniques with a contact probe Howon Jung ,Yongwoo Kim ,Seok Kim ,Jinhee Jang ,Jae Won Hahn pp.877-883

Micro-position control of a piezostack actuator using rate-dependent hysteretic compensator Phuong-Bac Nguyen ,Seung-Bok Choi pp.885-891

Sputter-redeposition method for the fabrication of automatically sealed micro/nanochannel using FIBs Heung-Bae Kim ,Gerhard Hobler ,Andreas Steiger ,Alois Lugstein ,Emmerich Bertagnolli ,Elmar Platzgummer ,Hans Loeschner pp.893-898

Human-following robot using tether steering Jun-Uk Chu ,Inchan Youn ,Kuiwon Choi ,Yun-Jung Lee pp.899-906

Evaluation of sensitivity and linearity for touch-mode capacitive pressure sensor measuring the inner bladder pressure Moon Kyu Lee, Su Min Jun, Sujin Kim, Saewoong Kim, Bumkyoo Choi pp.907-912

Atomic force microscopy using optical pickup head to measure cantilever displacement Sang-Heon Lee ,Hyun-Chul Kim ,Kwang-Suk Jung pp.913-915

(A)study on the correlation between pad property and material removal rate in CMP Changsuk Lee ,Hojun Lee ,Moonki Jeong ,Haedo Jeong pp.917-920

Calculation of knee joint moment in isometric and isokinetic knee motion Yoonsu Nam, Seongnam Kim, So-Ra Baek pp.921-924

Applications of laser assisted metal rapid tooling process to manufacture of molding & forming tools : state of the art Dong-Gyu Ahn pp.925-938

참고문헌 (11건) : 자료제공( 네이버학술정보 )

참고문헌 목록에 대한 테이블로 번호, 참고문헌, 국회도서관 소장유무로 구성되어 있습니다.
번호 참고문헌 국회도서관 소장유무
1 Hirai, N. and Mizoguchi, H., “Visual Tracking of Human Back and Shoulder for Person Following Robot,” Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, pp. 527-532, 2003. 미소장
2 Yoshimi, T., Nishiyama, M. and Mizoguchi, H., “Development of a Person Following Robot with Vision Based Target Detection,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 5286-5291, 2006. 미소장
3 Chen, Z. and Birchfield, S. T., “Person Following with a Mobile Robot using Binocular Feature-Based Tracking,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 815-820, 2007. 미소장
4 Human-following robot using the particle filter in ISpace with distributed vision sensors 네이버 미소장
5 Eriksson, J., Mataric, M. J. and Winstein, C. J., “Hands-off Assistive Robotics for Post-Stroke Arm Rehabilitation,” Proc. IEEE Int. Conf. Rehabilitation Robotics, pp. 21-24, 2005. 미소장
6 Ohya, A., Nagumo, Y. and Takahata, M., “Intelligent Escort Robot Moving together with Human - Human Following Behavior,” Proc. Int. Symp. Measurement and Control in Robotics, 2002. 미소장
7 Na, S., Ahn, H. S., Lee, Y. C. and Yu, W., “Navi-Guider: An Intuitive Guiding System for the Mobile Robot,” Proc. IEEE Int. Conf. Robot & Human Interactive Communication, pp. 228-233, 2007. 미소장
8 Yamada, T., Tomizawa, T. and Ohya, A., “Operation of a Mobile Robot by Steering a Rope,” Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence, 2006. 미소장
9 Winter, D. A., “The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological, 2nd Eds.,” Waterloo Biomechanics, 1991. 미소장
10 Robots in Human Environments: Basic Autonomous Capabilities 네이버 미소장
11 Model algorithm control for path tracking of wheeled mobile robots 소장

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