Earticle

초록

영어

To improve the robot's locomotion performance, it definitely needs the HRI (Human Robot Interaction) technology, the location awareness technology, and the real time location correction technology. In this paper, an HRI method that uses a circular coordinate system is proposed. The proposed method can implement robot locomotion with variable speed and directions instead of conventional method that controls speed and direction separately. Also, the nine characteristics of proposed circular coordinate system are to be described and the principles of user interfaces using the circular coordinate system are to be analyzed. For the performance evaluation, we have used a mobile robot that can be controlled through the wireless LAN and can perform differential drive. In addition, we have configured and tested a smart phone environment that can control the robot. The evaluation results show that the circular coordinate system reduces the locomotion time with accuracy.

목차

Abstract
 1. Introduction
 2. Locomotion Model of the Robot
 3. Circular Coordinate System based on Robot Locomotion Coordinates
 4. Establishment of a Test Environment
 5. Performance Evaluation
 6. Conclusion
 Acknowledgements
 References

키워드

저자

• Munsuck Jang [ Dept. of Electronic Engineering, Korea Polytechnic Univ ]
• Eunghyuk Lee [ Dept. of Electronic Engineering, Korea Polytechnic Univ ]
• Sangbang Choi [ Dept. of Electronic Engineering, Inha Univ ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605