Kinematic Control Algorithms and Robust Controller Design for Rescue Robot

Seongil Hong,Won Suk Lee,Youn Sik Kang,Yong Woon Park 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

This paper introduces the Korean rescue robot and presents the kinematic and dynamic control method. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. In order for robots to rescue and assist humans in various environments, reliable mobility and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulators and two types of grippers. The electric actuators provide manipulator compliance and the strength to lift wounded soldiers up to 120kg by virtue of whole body joints. For controlling the robot’s high degree of freedom efficiently, complex whole body behaviors are synthesized and multi level hierarchy is used to integrate multiple task primitives without confliction. Moreover, the robot should have an ability to cope with large payload variation from 0kg to 120kg, robust PID controllers are utilized. They afford extended disturbance input to state stability, H∞ performance and controller tuning laws. We are to demonstrate the effectiveness of kinematic control algorithms and robust PID controllers through numerical simulations.

재난 구조용 로봇의 자율주행을 위한 2.5D 지도작성 및지도정합에 관한 연구

김수호,심재홍 한국기계가공학회 2022 한국기계가공학회지 Vol.21 No.4

The purpose of this study was to investigate the possibility of increasing the efficiency of disaster reliefrescue operations through collaboration among multiple aerial and ground robots. The robots create 2.5D maps,which are merged into a 2.5D map. The 2.5D map can be handled by a low-specification controller of an aerialrobot and is suitable for ground robot navigation. For localization of the aerial robot, a six-degree-of-freedompose recognition method using VIO was applied. To build a 2.5D map, an image conversion technique wasemployed. In addition, to merge 2.5D maps, an image similarity calculation technique based on the features on awall was used. Localization and navigation were performed using a ground robot to evaluate the reliability ofthe 2.5D map. As a result, it was possible to estimate the location with an average and standard error of lessthan 0.3 m for the place where the 2.5D map was normally built, and there were only four collisions for theobstacle with the smallest volume. Based on the 2.5D map building and map merging system for the aerialrobot used in this study, it is expected that disaster response work efficiency can be improved by combining theadvantages of heterogeneous robots.

The Real-time Video Stabilization for the Rescue Robot

Jen-Pin Hsiao,Cheng-Chung Hsu,Tzu-Chiang Shih,Pau-Lo Hsu,Syh-Shiuh Yeh,Bor-Chyun Wang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

When rescue robots navigate in a rough terrain, significant vibration of the video occurs unavoidably and a video stabilization system is proposed in this paper to reduce the disturbance on the visual system of the present rescue robots. The Kalman filter is applied to estimate the motion vector of the robot and the false estimation occurrence can be thus greatly reduced by applying analysis of correlation and variance of the motion vector estimation. With a hierarchical searching algorithm implemented on the TI DSP 6437, the frame rate can be improved from 10 fps to 28 fps to realize the real-time video stabilization and furthermore, the cooperative mission of multiple rescue robots has been achieved by applying the developed visual servo technique. The proposed virtual bounded motion control algorithm further leads the robots approaching the target precisely with cooperation of multiple rescue robots. The demo video is available at: http://lab816.cn.nctu.edu.tw/DemoVideo/.

비정형 환경에서 구조 임무 수행을 위한 구조 로봇의 설계 및 제어 전략

홍성일,박규현,이영우,강신천 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.8

We propose a new hardware design and control strategy for a rescue robot to enhance its manipulation capability and ensure its driving stability in a highly unstructured environment. The robot is redesigned to efficiently rescue an impaired person lying on the ground and to dispose of a dangerous object. The singularity robust hierarchical inverse kinematics method is used to achieve versatile kinematic and dynamic tasks, where task priority is established among the motion primitives to precisely resolve task confliction. An active force control scheme is implemented in combination with a passive compliance mechanism to successfully execute the rescue mission by regulating the interaction force between the robot’s lower arms and the ground. The effectiveness of the hardware design and control methods has been demonstrated through extensive numerical simulations and experimental tests. .

A New Driving Mechanism to Allow a Rescue Robot to Climb Stairs

Sung-Kyun Lim,Dong Il Park,Yoon Keun Kwak 한국정밀공학회 2007 International Journal of Precision Engineering and Vol.8 No.3

There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments. We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot. This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robol can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.

A New Driving Mechanism to Allow a Rescue Robot to Climb Stairs

Lim, Sung-Kyun,Park, Dong-II,Kwak, Yoon-Keun Korean Society for Precision Engineering 2007 International Journal of Precision Engineering and Vol.8 No.3

There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments, We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot, This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robot can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.

고가반 하중의 원격 제어용 구조로봇 개발

홍성일(Seongil Hong),박규현(Gyuhyun Park),이영우(Youngwoo Lee),이원석(Wonsuk Lee),최병훈(Byunghun Choi),강신천(Sincheon Kang) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.12

We introduce to a humanoid rescue robot that is designed to have a large load carrying capacity. The robot’s goal is to lift and transfer patients or soldiers with impaired mobility for rescue and assistance on the battlefield or degraded human engineered environments. The other goal is to dispose of and move dangerous objects or explosive ordnance. The rescue robot is designed to have dual arm manipulators and a hybrid tracked and legged mobile platform to execute this kind of task. Real time closed loop inverse kinematics and dynamics-based motion optimization enables the effective performance of rescue tasks. The mechanical design and control algorithms are explained and the effectiveness is demonstrated in physical experiments with the humanoid rescue robot HURCULES.

Development of a Master Station for the Remote Control of Rescue Robots

Jae-Hee Kim,You-Rack Choi,Jae-Cheol Lee 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

As the robot are not intelligent enough to cope with unexpected events, they can not accomplish their mission autonomously without human operation. To overcome this kind of limitation, teleoperation has been studied for a long time. A master-slave is one of the teleoperation systems considered. It consists of a master robot operated by a human, a slave robot working in a real field, and communication link connecting the two robots. To control the slave robot remotely, the master robot has to obtain the information of the position/force of the slave robot as well as the image and distance measured by an ultrasonic or laser sensor. Recently, tactile information is used to control the robot remotely. This paper describes the establishment of a master-slave control system based on a haptic interface for the emergency response of a nuclear power plant.

Mixed-reality for quadruped-robotic guidance in SAR tasks

Cruz Ulloa Christyan,del Cerro Jaime,Barrientos Antonio 한국CDE학회 2023 Journal of computational design and engineering Vol.10 No.4

In recent years, exploration tasks in disaster environments, victim localization and primary assistance have been the main focuses of Search and Rescue (SAR) Robotics. Developing new technologies in Mixed Reality (M-R) and legged robotics has taken a big step in developing robust field applications in the Robotics field. This article presents MR-RAS (Mixed-Reality for Robotic Assistance), which aims to assist rescuers and protect their integrity when exploring post-disaster areas (against collapse, electrical, and toxic risks) by facilitating the robot’s gesture guidance and allowing them to manage interest visual information of the environment. Thus, ARTU-R (A1 Rescue Tasks UPM Robot) quadruped robot has been equipped with a sensory system (lidar, thermal, and RGB-D cameras) to validate this proof of concept. On the other hand, Human-Robot interaction is executed by using the Hololens glasses. This work’s main contribution is the implementation and evaluation of a Mixed-Reality system based on a ROS-Unity solution, capable of managing at a high level the guidance of a complex legged robot through different interest zones (defined by a Neural Network and a vision system) of a post-disaster environment (PDE). The robot’s main tasks at each point visited involve detecting victims through thermal, RGB imaging, and neural networks and assisting victims with medical equipment. Tests have been carried out in scenarios that recreate the conditions of PDE (debris, simulation of victims, etc.). An average efficiency improvement of 48% has been obtained when using the immersive interface and a time optimization of 21.4% compared to conventional interfaces. The proposed method has proven to improve rescuers’ immersive experience of controlling a complex robotic system.

Development of a Snake Robot Moving in a Small Diameter Pipe

Hocheol Shin,Kyung-Min Jeong,Jeong-Joo Kwon 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

This paper presents a snake robot moving in a small diameter pipe. A snake robot is a multi-linked modular robot. The snake robot, KAEROT-snake IV consists of 11 2-DOF actuator modules, a head, and a tail module. Each of the 2-DOF actuator modules has two small DC motors and worm gear boxes to increase the torque output and an embedded motor controller. The snake robot can move in a small diameter pipe with a sequence of holding motion as well as with a sinusoidal motion. Some modules holds the robot itself by pressing outward to induce friction while the other modules move forward/backward and hold the robot at a more front/rear position. A sequence of holding moves the robot forward/backward in a small diameter pipe.