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A concept verification of human rider behavior reproduction using CMG-based ATD for two-wheeled self-balancing personal mobility |
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SooYong Yun, WooSang Lee, Kwan-Woong Gwak(Sejong University, Korea) |
| The concept of ATD (Anthropomorphic Test Device) using CMG (Control Moment Gyroscope) is proposed to reproduce the behavior of the human rider on two-wheeled self-balancing personal mobility. The CMG-based ATD reproduces the human behavior through the intended disturbance torque corresponding to the position change of the center of gravity of the rider by changing the direction of the flywheel rotating at high speed. Feasibility of rider behavior reproduction is verified through the dynamic simulation platform of two-wheeled self-balancing personal mobility developed in a previous study and th |
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Feasibility study on the concept of CMG-based ATD that reproduces human rider behavior on one wheel self-balancing personal mobility |
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WooSang Lee, SooYong Yun, Kwan-Woong Gwak(Sejong University, Korea) |
| The CMG-based ATD that reproduces the intended behavior of a rider boarding one-wheel personal mobility by reenacting the disturbance torque corresponding to the movement of the center of gravity of the rider is proposed. In order to verify the reproducibility of the rider’s behavior, a dynamic model of one-wheel robot that combined CMG-based ATD is derived and verified by simulation using Matlab/Simulink. |
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Feasibility study on the self-balancing personal mobility motion simulator |
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LeeJu Choi, Kwan-Woong Gwak(Sejong University, Korea) |
| In order to reproduce the behavior of a self-balancing personal mobility (SBPM) to the disturbances, a parallel motion simulator is proposed. By using the inverse kinematics, the driving profile of the motion simulator is derived and the length of the actuator was controlled to follow this reference profile. It is verified that the moving plate of the simulator reproduces the behavior of the SBPM to the disturbances. |
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A Study on the Motion Safety for Mobile Servant Robots on a Slope Based on ISO13482 |
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Donghyung Kim, Ji Sung Lee, Myoungchan Roh, Bumsu Seo(ETRI, Korea) |
| International Organization for Standardization(ISO)13482 global safety standard for service robots was issued in 2014, however, the details such as test methods for a given service robot product are still on-going work. Among the various types of safety evaluation items, this paper deals with the safety evaluation methods for mobile servant robots on a slope. For this purpose, the notion of classic safety degree is applied for stability criteria during the robot’s travel. Though the simulation, we tested the proposed method. |
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The Design of Person Carrier Robot using SLAM and Robust Salient Detection |
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Youngjae Yun, Taeyang Gwon, Donghan Kim(Kyung Hee University, Korea) |
| we propose a person carrier robot for the movement of people with blindness and injured lower body in the building. Visually impaired people are unfamiliar with the structure of the building for the first time, so there is a high risk of accidents when moving. Likewise, patients suffering from lower body injuries are more uncomfortable to move than normal people, and therefore, there are many difficulties in moving. To solve this problem, we propose a robot that creates a building map, moves to a destination, and detects obstacles. |
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