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Design of a Quad Omni Wheeled Mobile Robot using Linear Actuators |
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Shuaiby Mohamed(Hanbat National University - Assiut University, Korea), Kangmin Kim, Youngshik Kim, Buhyun Shin(Hanbat National University, Korea) |
| This paper introduces a new type of a quad omni-wheeled mobile robot that combines omni wheels and linear servo actuators. The proposed system can be used on flat terrains and climbing satires, using four DC motors, one servo motor, and four linear servo actuators. To demonstrate the idea, a prototype model of the four omni wheels module of the robot mechanism has been created.
This innovative solution enables the proposed robot to move both vertically and horizontally without altering its orientation, ensuring greater stability and reliability of its movements. |
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An Intuitive Human-Manipulator Interface with Mixed Reality |
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Yu-Wei Chang, Shu-Ting Hsu, Hua-Hsuan Yeh, Yen-Chen Liu(National Cheng Kung University, Taiwan) |
| This paper presents an intuitive interface for human-robot teleoperation systems to enhance intuition and immersiveness with mixed reality. Acquiring the pose of the operator's hand via IMUs, the control method enables the operator to control the end-effector pose of the manipulator directly and intuitively by hand posture. RBFNN is utilized to address dynamics uncertainties, and the null-space projection method is implemented for redundant robots to perform self-motion control. Additionally, MR-integrated visual feedback provides an immersive experience for teleoperation via the head-mounted display device, and the effectiveness has been validated by experiments with a 7-DoF manipulator. |
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Assembly of a Tool with Geometric Anisotropy for Automated EV Charging Mission |
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Beomjin Lee(Hyundai Kefico, Korea), Dongkyung Cheong(Hyundai kefico, Korea) |
| We are working on an electric vehicle charging mission using a robot. We are focusing on a concept that a mobile manipulator covers multiple chargers in a broad parking lot. This paper presents a method for the robot to connect the charging gun in an automated charging system. To improve the orientation error of the pose estimation results obtained from ArUco markers, a method was applied that involves sampling and processing the data. As an assembly strategy for the robot arm, an approach method for 1-point contact using force sensor data was introduced. This allows the omission of the spiral motion. It reduces the overall operation time. |
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Autonomous Agricultural Monitoring Robot for Efficient Smart Farming |
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Zubaidah Al-Mashhadani, Joon-Hyuk Park(University of Central Florida, United States) |
| This paper presents the implementation of an autonomous robotic monitoring system for tomato plant monitoring, including ripeness assessment, disease detection, and environmental monitoring, the study addresses the limitations of time-consuming and costly traditional methods offering an affordable and efficient alternative to boost productivity rates. Built on ROS framework, the robot’s navigation system utilizes the A* algorithm and DWA planner. Deep learning techniques were employed (YOLOV5) for autonomous 3-level ripeness classification and detection of of nine tomato diseases. IoT technology is employed for wireless soil monitoring through the robot. The system is tested in real-world. |
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Comparison of Yaw Moment Generation Methods for Motor Directly Driven Flapping Wing Micro Aerial Vehicle |
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Seungik Choi, Seunghee Jeong, Taesam Kang, Jungkeun Park(Konkuk University, Korea) |
| In this paper, a comparison of yaw moment generation methods was conducted for a motor directly driven flapping wing micro aerial vehicle equipped with a resonant flapping wing system using extension springs. Two proposed methods for generating yaw moments in the motor directly driven flapping wing micro aerial vehicle were Split-Cycle Constant Period Frequency Modulation and Shift of the Mean Wing Stroke Angle. A yaw moment measurement device was constructed using rotary encoder for the purpose of yaw moment measurement.. The yaw moments generated by each method were measured and examined using this device, and a comparison was made to find the most suitable method for the model. |
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Foot-Operated Telelocomotion Interface for Avatar Robots Utilizing Mecanum Wheel-based Mobile Platforms |
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Hokyun Lee, Gyeongjae Park, Jaeyong Shin, Beomyeong Park, Jaeheung Park(Seoul National University, Korea) |
| This paper introduces an foot-operated telelocomotion interface designed for avatar robots, humanoid robot TOCABI. The system incorporates mobile platforms with Mecanum wheels and a telelocomotion interface utilizing Rudder pedals. Operator constraints due to haptic devices, limiting conventional input methods, are addressed. The telelocomotion interface was evaluated in comparison to other systems from teams participating in the ANA Avatar XPRIZE finals, providing a comprehensive overview of the current state-of-the-art telelocomotion interface for avatar robots and highlighting the unique features of the system presented. |
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