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The Development of Research on Interactive Virtual Fixture Generation |
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Vitalii Pruks, Jee-Hwan Ryu(KAIST, Korea) |
| Teleoperation supported by virtual fixtures (VF) significantly improve the performance of human operators. However, virtual fixture generation (VFG) is the primary technical challenge of applying VF in unstructured environments. In this work, we describe how the idea of interactive VFG has evolved throughout the authors’ research. The idea started from the basic feature-based generation method. Eventually, it became a sophisticated framework applicable to complicated environments and various tasks. The paper describes the challenges that helped to develop the idea and the future outlook. |
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Dynamics and Control Problems of Novel Aerial Manipulation Systems with Rotor Actuation |
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Hyunsoo Yang, Dongjun Lee(Seoul National University, Korea) |
| -We deal with the dynamics and control problems of novel aerial manipulation systems with rotor actuation
-Aerial manipulation systems include:
1) drone equipped with robotic arm inheriting flying capability of multi-rotor drone while it also inherits versatile manipulation capability from robotic arm; and
2) distributed rotor-based vibration suppression system which is developed to manipulate and transport of long flexible load by distributing scalable modules along with the load with onboard sensing capability |
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Methods for Improving the Perceived Impedance Range of Handheld Haptic Controllers |
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Inrak Choi(Seoul National University, Korea) |
| We first introduce a hybrid actuation composed of a geared motor and two active unidirectional clutches. One clutch connects an end-effector to the geared motor only during haptic rendering. A second clutch grounds the end-effector to the device body. The hybrid mechanism renders free space and solid objects effectively in a passive manner. We then introduce a system combining active transient vibration with visuo-haptic illusions. A voice coil actuator transmits active vibrations to the fingertip, while a force sensor measures the force applied on passive objects to create visuo-haptic illusions. The combination of two methods allows users to effectively perceive various levels of softness. |
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A Foldable Robot Arm for Drones: Applications and Challenges |
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Bhivraj Suthar(Chunnam National University, Korea), Seul Jung(Chungnam National University, Korea) |
| Drone arms can be composed of links and joints like a conventional manipulator. However, drones are required to carry limited payloads so that they cannot deploy on the drones due to their bulky structures from limited electrical power. The traditional arm used with drones makes it challenging for researchers and engineers to design compact and lightweight drone arms that would be truly deployable on drones. Our work focuses on developing lightweight, simple, compliant, foldable and easy to deploy on drones that can enhance payload. We have been working on the design of a deployable and foldab |
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A Tire System Attached Acceleration Sensor for Road Condition Classification |
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Hyeongjun Kim, Kyungchang Lee(Pukyong National University, Korea) |
| In this paper, we propose an algorithm for determining road conditions using data from an acceleration sensor installed inside a tire and describe the intelligent tire (iTire) system. Specifically, our algorithm involves extracting the features of the frequency band, by converting the collected acceleration data through fast Fourier transform (FFT) and then applying an artificial neural network (ANN) analysis. Road conditions were classified as dry, wet and rough. Finally, we verified the applicability of the algorithm using acceleration data accrued by the sensor for an actual vehicle. |
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Virtual Teleoperation-based Human-assisted Autonomy for Shared Teleoperation |
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Kwang-Hyun Lee, Jee-Hwan Ryu(KAIST, Korea) |
| In this research, we propose an interface to get human intuition information enough to help planning algorithm to solve its problem in unstructured environment and introduce the implementation of human interactive path planning by utilizing human intuition. Through the proposed framework, human operator can intuitively give intuition information based on his/her cognitive ability and planning algorithm utilizes the human intuition information to increase the efficiency of exploring and adjust the proper collision check margin and resolution. Simulation results prove that human intuition can increase the performance of path planning algorithm. |
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