Pohang Institute of Intelligent Robotics

Pohang, South Korea

Pohang Institute of Intelligent Robotics

Pohang, South Korea

Time filter

Source Type

Lee M.,Pohang Institute of Intelligent Robotics | Park J.W.,Pohang Institute of Intelligent Robotics | Park S.-H.,Pohang Institute of Intelligent Robotics | Lee J.,Pohang Institute of Intelligent Robotics | And 5 more authors.
IEEE International Conference on Automation Science and Engineering | Year: 2012

Underwater robot could be used to clean the bottom of industrial reservoirs without draining thousands of tons of water. This paper describes an ongoing effort, an underwater cleaning robot, PIRO-U3 at Pohang Institute of Intelligent Robotics. © 2012 IEEE.


Jung K.,Pohang Institute of Intelligent Robotics | Shin S.,Sungkyunkwan University | Lee K.,Sungkyunkwan University | Park S.,Pohang Institute of Intelligent Robotics | And 3 more authors.
URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence | Year: 2011

The miniature six-DOF force/torque sensor with CAN interface has been developed for the finger-tip of the dexterous robot hand. We designed the frame of sensor by FEM Analysis. The sensor consists of a transducer and a signal conditioning circuit. It is embedded in finger-tip sensor. We tested the performance of sensors by using a robot hand and a load cell. © 2011 IEEE.


Choi Y.-H.,Pohang Institute of Intelligent Robotics | Lee J.-W.,Pohang Institute of Intelligent Robotics | Suh J.-H.,Pohang Institute of Intelligent Robotics | Suh J.-H.,ED Co. | And 2 more authors.
ICCAS 2010 - International Conference on Control, Automation and Systems | Year: 2010

This paper describes an outline of our project on robotic system integration. We suggest a unified system integration method to build an intelligent robotic system using robotic intelligent components. We introduce the concept of a robotic intelligent component which consists of an embedded hardware module adopting EtherCAT bus and a software module based on Open Software Platform for Robotic Services (OPRoS). Using these intelligent robotic components in developing robotic system, robotic system integrator can reduce developing times and maintenance cost while improving the reusability of components because interoperability between components is guaranteed. We have developed a new easy system integration method using robotic intelligent components. Experiments show the effectiveness of this new integration method. ©ICROS.


Shin J.,Korea University | Yi S.,Korea University | Hong Y.,Pohang Institute of Intelligent Robotics | Suh J.,Pohang Institute of Intelligent Robotics
Journal of Institute of Control, Robotics and Systems | Year: 2010

In this paper, we proposed an omnidirectional ranging system that is able to obtain 360° all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot. © ICROS 2010.


Choi Y.-H.,Pohang Institute of Intelligent Robotics | Jung K.-M.,Pohang Institute of Intelligent Robotics
URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence | Year: 2011

This paper describes the world's first commercialized window cleaning robot named windoro, which is a fully autonomous intelligent window cleaning robot. The windoro adheres to the surface of window glass by means of four permanent magnet pairs between an inner unit and an outer unit rather than using vacuum suckers for the energy efficiency and safety. An inner unit and an outer unit are in charge of navigation and cleaning, respectively. To do this, an inner unit has two driving wheels equipped with silicon tire with the big friction coefficient and an outer unit has four motorized rolling disks with a superfine fiber pad. For the convenience of user, the windoro can recognize the initial starting position and return to that position after finishing cleaning. In addition to this, an inner unit has mechanism for adjusting magnetic force according to the thickness of window glass. Due to this, the windoro is applicable to various kinds of windows. From the several severe experiments, the windoro demonstrated system stability, good mobility, cleaning performance and safety. © 2011 IEEE.


Seo K.-H.,Pohang Institute of Intelligent Robotics | Oh S.,Pohang Institute of Intelligent Robotics | Park Y.,Pohang Institute of Intelligent Robotics | Park S.H.,Pohang Institute of Intelligent Robotics | Suh J.-H.,Pohang Institute of Intelligent Robotics
URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence | Year: 2011

Recently, the opportunity to have a smart human motion tracking systems represents an interesting instrument in a wide range of advanced application, such as gaming, augmented reality, telemedicine, rehabilitation and human machine interaction applications. In this research, we developed a Digital Suit (DS) for a horseback riding robot system named HRB-1. It gathers human motion data during horse riding. From these data, posture of the trainee can be corrected into that of expert. The system configuration and its usage are discussed on this paper. © 2011 IEEE.


Yi S.,Korea University | Suh J.,Pohang Institute of Intelligent Robotics | Hong Y.,Pohang Institute of Intelligent Robotics | Hwang D.,ThinkLife Robotics Inc.
Proceedings of the SICE Annual Conference | Year: 2010

This paper presents an active ranging system based on laser structured-light image for mobile robot applications. The structured-light image processing is computationally efficient in comparison with the conventional stereo image processing, since the burdensome correspondence problem is avoided. In order to achieve robustness against environmental illumination noise, we propose an efficient image processing algorithm, i. e., integration of difference images with structured-light modulation. The proposed system has its own embedded image processing module and transmits final distance data to reduce the computational burden in main control system. © 2010 SICE.


Lee J.-O.,Konkuk University | Lee K.-H.,Konkuk University | Park S.-H.,Pohang Institute of Intelligent Robotics | Im S.-G.,Konkuk University | Park J.,Konkuk University
Aircraft Engineering and Aerospace Technology | Year: 2011

Purpose - The purpose of this paper is to propose that the three-dimensional information of obstacles should be identified to allow unmanned aerial vehicles (UAVs) to detect and avoid obstacles existing in their flight path. Design/methodology/approach - First, the approximate outline of obstacles was detected using multi-scale-oriented patches (MOPS). At the same time, the spatial coordinates of feature points that exist in the internal outline of the obstacles were calculated through the scale-invariant feature transform (SIFT) algorithm. Finally, the results from MOPS and the results from the SIFT algorithm were merged to show the three-dimensional information of the obstacles. Findings - As the method proposed in this paper reconstructs only the approximate outline of obstacles, a quick calculation can be done. Moreover, as the outline information is combined through SIFT feature points, detailed three-dimensional information pertaining to the obstacles can be obtained. Practical implications - The proposed approach can be used efficiently in GPS-denied environments such as certain indoor environments. Originality/value - For the autonomous flight of small UAVs having a payload limit, this paper suggests a means of forming three-dimensional information about obstacles with images obtained from a monocular camera. © 2011 Emerald Group Publishing Limited. All rights reserved.


Choi Y.-H.,Pohang Institute of Intelligent Robotics | Lee J.-W.,Pohang Institute of Intelligent Robotics | Yun S.-J.,Pohang Institute of Intelligent Robotics | Hong S.-H.,Pohang Institute of Intelligent Robotics | And 3 more authors.
International Conference on Control, Automation and Systems | Year: 2012

This paper describes the 4th year research results of our project, The development of Robotic Intelligent S/W Component and its performance test. In our previous paper, we suggested a unified system integration method to build an intelligent robotic system using robotic intelligent components and introduced the concept of a robotic intelligent component which consists of an embedded hardware module adopting EtherCAT bus and a software module based on Open Software Platform for Robotic Services (OPRoS) in the first paper and then we described the easy system integration procedure to develop a mobile manipulator using RIC in the second paper. In this paper, we address the 4th year research results for the commercialization and popularization of RIC through development of EtherCAT Core Modules, construction of the web server for the integrated management of RIC and customization of the OPRoS component editing tool. We expect that RIC is applicable to industrial filed more easily through this commercialization process. © 2012 ICROS.


Park Y.,Pohang Institute of Intelligent Robotics | Seo K.-H.,Pohang Institute of Intelligent Robotics | Oh S.,Pohang Institute of Intelligent Robotics | Park S.H.,Pohang Institute of Intelligent Robotics | Suh J.-H.,Pohang Institute of Intelligent Robotics
Journal of Institute of Control, Robotics and Systems | Year: 2012

Horse riding is widely recognized as a valuable form of education, exercise and therapy. But, the injuries observed in horse riding range from very minor injuries to fatalities. In order to reduce these injuries, the effective horseback riding simulator is required. In this paper, we proposed the implementation method of horse gait and riding aids for horseback riding robot simulator HRB-1. For implementation of horse gait to robot simulator, we gathered and modified real motion data of horse. We obtained two main frequencies of each gait by frequency analysis, and then simple sinusoidal functions are acquired by genetic algorithm. In addition, we developed riding aids system including hands, leg, and seat aids. With the help of a developed robotic system, beginners can learn the skill of real horse riding without the risk of injury. © ICROS 2012.

Loading Pohang Institute of Intelligent Robotics collaborators
Loading Pohang Institute of Intelligent Robotics collaborators