Modified ORB-SLAM Algorithm for Precise Indoor Navigation of a Mobile Robot

Yongjin Ock, Hosun Kang, Jangmyung Lee

In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile ...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.205

Gain Optimization of Kinematic Control for Wire-driven Surgical Robot with Layered Joint Structure Considering Actuation Velocity Bound

Sangrok Jin, Seokyoung Han

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of t...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.212

Slip Detection and Control Algorithm to Improve Path Tracking Performance of Four-Wheel Independently Actuated Farming Platform

Bongsang Kim, Sungwoo Cho, Heechang Moon

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. I...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.221

Study on the Model based Control considering Rotary Tillage of Autonomous Driving Agricultural Robot

Hajun Song, Kyon-Mo Yang, Jang-Seok Oh, Su-Hwan Song, Jong-Boo Han, Kap-Ho Seo

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is diffic...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.233

Knitted Data Glove System for Finger Motion Classification

Seulah Lee, Yuna Choi, Gwangyeol Cha, Minchang Sung, Jihyun Bae, Youngjin Choi

This paper presents a novel knitted data glove system for pattern classification of hand posture. Several experiments were conducted to confirm the performance ...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.240

Gyro Effect Control of the Quadrotor UAV using Feedback Linearization

Young-Min Kim, Woon-Bo Baek

This paper introduces a Feedback Linearization (FL) controller to eliminate the gyro effect on a quadrotor UAV. In order to control the attitude of the quadroto...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.248

A Design Methodology of Task Safety Scenario for the Application of Collaborative Robots

Yull-Hui Kim, Jin-Oh Kim

This study is about a design method for deriving task safety scenarios for the application of collaborative robots. A five-step process for deriving task safety...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.256

A Study on Design of Posture Transition Filter for 3D Human Posture Estimation and Refinement on Robotic Bed

Jong-il Lee, Jong-Boo Han, Jae Wan Koo, Jae-Won Choi, Jehun Hahm, Kyon-Mo Yang, Dong-Seop Sohn, Kap-Ho Seo

As we become an aging society, the number of elderly patients continues to increase. Pressure sores that can easily occur in patients with trauma cause serious ...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.269

Path Tracking with Nonlinear Model Predictive Control for Differential Drive Wheeled Robot

Jaewan Choi, Geonhee Lee, Chibum Lee

A differential drive wheeled robot is a kind of mobile robot suitable for indoor navigation. Model predictive control is an optimal control technique with vario...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.277

Development of Fall Inducement System based on Pedestrian Biological Data for Fall Reproduction

Jong-il Lee, Jong-Boo Han, Jae Wan Koo, Seokjae Lee, Dong-Seop Sohn, Kap-Ho Seo

This paper is about a fall inducement system for guiding like a real fall. Reliable fall data can be used as an essential element in developing effective fall p...

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DOI: https://doi.org/10.7746/jkros.2020.15.3.286