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퍼스널 로봇을 위한 시스템 엔지니어링 기술 개발 Robot Software Platform 한국생산기술연구원 양광웅 2007. 9

Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

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Page 1: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

퍼스널 로봇을 위한 시스템 엔지니어링 기술 개발

Robot Software Platform

한국생산기술연구원

양광웅

2007. 9

Page 2: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

목차

• 개요• 기술개발 동향• 1단계 기술개발 결과• 2단계 기술개발 결과

Page 3: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

What is robotics software platform ?

• 통일된 프로그래밍 환경, • 통일된 서비스 실행 환경, • 재활용 가능한 요소들의 집합, • 디버깅 및 시뮬레이션 환경, • 로봇 하드웨어에 대한 드라이버 패키지• 컴퓨터 비전/주행/암 제어 등과 같은 공통 수단에 대한패키지

• à여러 종류의 로봇 장치들에 대한 프로그래밍을 단순화하는 소프트웨어 패키지

Page 4: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Why robotics software platform?

• 로봇 개발 비용의 증가– system integration– software development/customization

• Software platform simplify the job of robotics software engineers à 로봇 개발 비용의 감소

• 신뢰할 수 있는 다양한 소프트웨어 컴포넌트 + 단일 플랫폼

Page 5: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Robotic Software PlatformPlatform Type

Evolution Robotics ERSP

Platform Commercial

Microsoft Robotics Studio

PlatformCommercial Free of charge for research and hobby

OROCOSMachine and robot control libraries

Open source & free

Skilligent Robot learning add-on Commercial

URBI Platform Commercial

Webots Simulation environment Commercial

Player, Stage, Gazebo Platform Open Source & Free

iRobot AWARE Platform Commercial

OpenJAUS Platform Open source

CLARAty Platform Open source

Page 6: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Overview of main playersEvolution Microsoft OROCOS Skilligent URBI Webots Player, Sta

ge, Gazebo

Open source No No Yes No No No Yes

Free of charge No Edu/hby Yes No No No Yes

Windows Yes Yes No Yes Yes Yes Yes (sim)

Linux Yes No Yes Yes Yes Yes Yes

Distributed environment No Yes No Yes Yes No Yes (limited)

Behavior coordination Yes Yes No Yes Yes No No

Built-in robotic arm control No No Yes Yes No No No

Built-in object recognition Yes No No Yes No No No

Built-in navigation Yes No No Yes No No No

Task/skill learning No No No Yes No No No

Simulation environment No Yes No No Yes (Webots) Yes Yes

Range of supported hardware Small Large Medium Medium Large Large Medium

Reusable service building blocks Yes Yes Yes Not applc

bl Yes No No

Real-time No No Yes No No No No

Page 7: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Evolution Robotics’s ERSP

• ERSP Architecture– TEL: Task Execution Layer– BEL: Behavior Execution Layer– HAL: Hardware Abstraction Layer

• 4개의 모듈이 하나의 패키지로 구성된 라이브러리– Architecture, Vision, Navigation, Interaction

Page 8: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Evolution Robotics’s ERSP

Applications

Components

Operating System

Hardware

Developer Tools

C++ APIs, XML,Python, GUIs

Vacuum, Patrol, Play a game, Read a book,etc.

Object RecognitionHuman-robot InterfaceNavigation, etc.

Sensors & Actuators

Linux, ITRON, ThreadXQNX, RT-Linux, etc.

Inputs Outputs

Real-world Stimuliand Actions

ERSP Architecture

Behavior Execution Layer

Hardware Abstraction LayerResource Manager

Resource Interfaces

Resources

Task Execution Layer

Behavior Interfaces

Behaviors

Behavior Manager

Task Manager

Task Interfaces

Tasks

Page 9: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Evolution Robotics’s ERSP

• Behavior Composer of Evolution Robotics

Page 10: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

하드웨어플랫폼

3rd Parties

Microsoft

개발 툴

Robot O/S

기본API

확장API

응용프로그램알고리즘

3D Simulator

Microsoft Robotics Studio

• Microsoft는 Robot O/S와 개발 툴을 제공하고 3rd Parties이 Applications, Algorithms을 제공

Page 11: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Microsoft Robotics Studio

• Visual Programming Language

Page 12: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Microsoft Robotics Studio

• Microsoft Simulation environment

Page 13: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

EU’s OROCOS

• OROCOS: Open RObot COntrol Software• Free software project• Orocos project supports 4 C++ libraries:

– the Real-Time Toolkit,– the Kinematics and Dynamics Library, – the Bayesian Filtering Library and – the Orocos Component Library

Page 14: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

EU’s OROCOS

• Orocos targets four different categories of Users– Framework Builders– Component Builders – Application Builders – End Users

Page 15: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Skilligent

• Skilligent is a robot behavior control system with robot learning and social interaction capabilities fot the service robots

Page 16: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Skilligent

Page 17: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

OMG

• OMG에서 국제 표준을 위해 제안한 소프트웨어 구조

Page 18: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

OMGv COMPONENT 구조

Page 19: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

OMGv 개발도구 예

AIST: RT Middleware Developed for Realizing Open Robot Architecture

Page 20: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

OMGv 적용 예

An arm control system manipulated with a joystick, and a program developed by using the RT middleware

Page 21: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

OMGv 적용 예

By use of modules sharing a common interface, the control of industrial robot is readily interchangeable with that of humanoid arm

Page 22: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

연구배경• 일본에서는 대기업 주도하에 대규모 예산을 투입하여 로봇기술을 개발 중이고, 이미 로봇 시제품과과 양산 제품을 생산함

• 미국에서는 대학과 연구소 중심으로 로봇의 기초 연구가 매우 활발히 이루어지고 있으며, 세계적으로 우수한 첨단 기술을 보유하고 있음

• 국내에서는 많은 중소기업들이 가정용/오락용 로봇을 개발하여 시장에 제품을 출시하고 있으나, 로봇 분야에 대한 생산기반 및 체계적인 연구부족으로 연구기반이 취약한 실정임

• 폐쇄적･배타적 기술개발 및 투자를 벗어나 상호 유기적인 연구개발 체계를통해 기술개발의 전문화와 개발된 기술의 공유

• 이를 위해 하드웨어와 소프트웨어를 모두 포함하는 모듈화 및 표준화, 안전성평가를 포함한 로봇의 시험 및 평가기술, 표준형 플랫폼과 시험환경을포함한 Test-bed, 로봇의 설계, 시뮬레이션, 상품화 등의 전 과정을 지원하는 소프트웨어 지원 도구인 로봇 통합 개발도구를 개발함

Page 23: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

로봇과 PC의 차이점

PC Robots

Services

Application

Hardware

Parts

Portal Banking Media Commerce Education Storage

Office ERP Database Mail Games

PC Labtop Server UMPCPMP Mainframe

CPU Memory HDDMainBoard Power

GraphicCard Web Cam

Combat and

Rescue robots

Industrial robots

Cleaning robots

Home robots

Motor Sensors Frames Board Camera Actuator

Page 24: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

로봇이 PC와 구분되는 특징구분 PC 로봇

하드웨어컴퓨터 본체. 컴퓨터 전용 부품들이 사용되고

있음(저가, 수요가 많음)

머리, 팔, 다리(바퀴)를 가짐. 산업용 장비의 부품을 채

용하여 로봇에 사용(고가, 고정밀, 수요가 적음)

입력장치인간의 지시를 입력하기 위한 마우스, 키보드,

카메라, 마이크

사람과 같은 청각, 시각, 촉각 등.

카메라와 마이크 등의 장치는 PC와 동일하게 사용되

나, 주로 인지(지능)를 위한 입력 장치로 사용됨

출력장치 모니터, 프린터, 스피커(소리) 얼굴 표정, 몸짓, 스피커(음성)

상호작용 사람의 손과 눈, 화려한 GUI 환경사람, 주변환경, 로봇,

대부분 GUI를 필요로 하지 않음

시뮬레이션 주로 게임에 사용되는 3D시뮬레이션 Physics가 고려된 3D시뮬레이션, 센서 시뮬레이션

인터넷 정보 검색, 가공 (동일)

지능 필요 없음 있어야 함

안전 - 필수적으로 고려되어야 함

실시간 이벤트 이벤트, 실시간 모두 고려

역할 사무용 도구, 게임 도구, 정보 저장 심부름, 청소 등의 활동적 서비스

Page 25: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

•안전성 평가 방법•성능 평가 방법•시험평가환경 구축

•로봇 디자인•모듈 조합•모듈 프로그래밍•컴파일/실행•디버깅 개발자용 저작 도구

사용자용 운용 도구시뮬레이션 도구

Robot

시험 평가 환경

•Component Repository(DB)

Internet Server•Sensor•Actuator•SoC•SBC

•Manipulation•Navigation•HRI•Intelligence S/W Component

(Algorithm)

부품

기술의 구성

• 로봇을 개발하기 위한 환경과 도구– 시뮬레이션 도구, 개발자용 저작 도구, 사용자용 운용 도구를 개발함– 안전성, 성능 평가방법을 개발하고 청소로봇을 대상으로 평가 수행

Page 26: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

여러 모듈로 구성되는 로봇

Intelligence(600MHz Pentium PC)Speech recognition and synthesis,Intelligence,Emotion

Intelligence(600MHz Pentium PC)Speech recognition and synthesis,Intelligence,Emotion

Motion Control(2GHz Pentium PC)Behaviors,Motor arbitration

Motion Control(2GHz Pentium PC)Behaviors,Motor arbitration

Vision(3GHz Pentium PC)Vision processing

Vision(3GHz Pentium PC)Vision processing

Two Cameras

Head motors,Body motors

Ear (microphone)

100Mbps Ethernet

Mouth (speaker)

Middleware(CORBA, DCOM)

• 여러 모듈로 구성되는 로봇– 분산환경을 고려한 통신 미들웨어를 개발함– 전기적 기계적 모듈 접속기준을 표준화 함, S/W Component 표준화 함

Page 27: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

여러 장치를 가지는 모듈

Motor Controller

(TI DSP)

Motor Controller

(TI DSP)

Motor Controller

(TI DSP)

Motor Controller

(TI DSP)

CAN Channel 1 (Body motors)

Motor Controller

(TI DSP)

Motor Controller

(TI DSP)

Motor Controller

(TI DSP)

Motor Controller

(TI DSP)

CAN Channel 2 (Body motors)

Motion Control(2GHz Pentium PC)Behaviors,Motor arbitration

Motion Control(2GHz Pentium PC)Behaviors,Motor arbitration

• 여러 장치를 가지는 모듈– CPU/Bus/Device를 관리하기 위한 Software Framework을 개발함

Page 28: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

로봇 소프트웨어 예CameraMicrophone

Face Recognition

Object Recognition

Face trackingBehavior

PersonalitySystem

AaWoo Dialogue Engine

Object trackingBehavior

MotionDetection

Web/Messenger/Keyboard

Color Detection

Function of EveR-2Function of EveR-1 & EveR-2

Facial Expr.Behavior

GestureBehavior

Lip Sync.Behavior

EmotionBehavior

Scenario

Synthesis

EmotionModel

Recognition

Facial Motor Arm, Body Motors Eye, Neck Motors

HomeostaticRegulation

BasicBehavior

BlinkBehavior

Motor Arbiter(∑)

Sound Localization

Motion ControlMotion Control

IntelligenceIntelligence

VisionVision

speaker

Page 29: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

1단계 과제 결과 요약

• 로봇 소프트웨어 개발 도구• 분산 미들웨어• 로봇 가상머신• 성능평가 시스템

Page 30: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

소프트웨어 플랫폼 구성

Page 31: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

로봇 소프트웨어 구조 v1

• 특징– 분산환경– 플랫폼 독립: 가상머신– C,C++, Java, Python, VB– TCP/IP, IEEE1394, USB, CAN

• 로봇모듈– Robot Virtual Machine (RVM)– Module Interface– Internal API

• Middleware– Streaming Layer– Network Adaptation Layer

Sensor／Actuator

Internal API

Module Manager

RVM

Module Interface

Network Adaptation Layer

Streaming Layer

Network Media

MiddlewareRobot Module

SoftwareHardware

Page 32: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

개방형 통신 미들웨어

• LAYER02 : Streaming Layer– 모듈에서 주고받는 메시지 데이터를 stream으로 변환– Stream을 메시지 데이터로 변환

• LAYER01 : Network Adaptation Layer– 다양한 네트웍 미디어 및 프로토콜 지원

• 특징:– 모듈과 모듈간 통신에 사용– 객체 전송– 원격 함수 호출

LAYER02 : Streaming Layer

LAYER01: Network Adaptation Layer

IEEE1394 USB Ethernet IEEE

802.11 Bluetooth ...

MID

DLE

WA

RE

VM ModuleManager

OtherApp.

Interface with Application

Interface with Network

L1-to-L2

Repository

Page 33: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

MIDL 컴파일러

• MIDL(Interface Definition Language) 언어– 특정 언어 독립적인 모듈 인터페이스 정의– Corba IDL의 서브셋

• Stub/Skeleton 코드 생성– C/C++, Java, Visual Basic, Python*

• 특징:– 이기종 분산환경을 하나의 시스템으로 통합– 네트워크상에 분산된 객체를 손쉽게 호출– 다양한 개발 언어 사용

* 개발 완료되지 않음

Object Adapter

Stub,Interface

Client

Skeleton

Middleware

Server

MIDL

Page 34: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

RPL 컴파일러 및 가상머신

• RPL 언어– C언어 형식과 유사한 언어

• 컴파일러– RPL로 작성된 소스코드를 컴파일하여 Byte Code 생성

• 가상 머신– Stack Oriented Operation

RPLSource Code

RobotByte Code컴파일러

Robot Virtual Machine

해석 및 실행

Register

SP

BP

GP

Stack

Heap Byte Code

Message Queue

PP

D

P

Page 35: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

로봇 디자인센터 v1

• 특징:– 모듈 제어 프로그램 개발– 문법 에러 검사 및 예외 처리– 모듈 및 프로시져의 버전 관리

• 기능:– Text Editor– Library 관리– Debugging– Robot Module 관리

Page 36: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

로봇 디자인센터 v2• 특징

– 모듈 개발자의 로봇제어 프로그램개발

– 소프트웨어 통합 환경 및 유지보수– 로봇 응용프로그램 개발– 사용자 지향적인 개발환경

• 기능– Text Editor– Graphic Editor: Block Diagram– Library 관리– Debugging– Robot Module 관리

Page 37: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

2단계 과제 결과 요약

• 단일 플랫폼 기반 소프트웨어 구조• 3D 동역학 시뮬레이터• 알고리즘/컴포넌트

Page 38: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

로봇 소프트웨어 구조 v2

• 특징:– 단일 플랫폼 로봇을 대상으로 함– 계층 구조– C++ 언어 기반, 추상화 개념, 상속

• HAL(Hardware Abstraction Layer)– Device Manager와 Device Driver

• Service Layer– Behavior Manager와 Task Manager

Task Behavior

Device Driver

Hardware

Application Layer

Service Layer

Hardware Abstraction Layer

Scenario

Perception

Emotion

Sensor Actuator

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Device &Device Driver

계층적 소프트웨어 구조

Robot O/S

Algorithm

Application

Algorithm Layer

Application Layer

Hardware Abstraction Layer

Motor Arbiter

Device Manager

Behaviors

Task Manager(Tasks)

Scenario

Synchronization

Hardware

Get red cup from room #302

Navigation, Manipulation, Grasp

Object Detection, Face Recognition,Gesture, Facial Expression, Lip Sync.

Camera, Motor, Sensor, Mobility, Communication (CAN, RS232, TCP/IP)

• 계층적 소프트웨어 구조– 소프트웨어 구조는 로봇 제어 관점에서의 구조와 소프트웨어 공학 관점에서의 구조로 구분할 수 있음

– 로봇 제어 관점에서의 구조는 국내외에서 다양한 구조가 개발됨, 의견의 통일을 보기 어려운 상황

– 본 과제는 소프트웨어 공학 관점에서의 구조로 접근을 시작함, 모듈화 분산화 표준화 관점에서 접근 시작

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Device Manager

Device Container

Device Driver 1 Device Profile 1

CommunicationDevice Driver 1

Device Driver n Device Profile n

Synchronization Processor

Device Type Abstract Class Profile

Communication CCommBase (없음)

Motor CMotorBase CMotorProfile

Sensor CSensorBase CSensorProfile

Camera CCameraBase CCameraProfile

Mobility CMobilityBase CMobilityProfile

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Synchronization Processor

Device Driver

Application

Sync.Processor

Hardware

Device Profile

Control command Measured Data

Device profile이 버퍼 역할을 함.

Device 1 Device 2 Device n

Bus 1

CPUCPU

Device 1 Device 2 Device n

Bus 2

Device 1 Device 2 Device n

Bus n

Sync.Processor

Sync.Processor

Sync.Processor

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초소형 통신 프로토콜• 다양한 통신 프로토콜과 MPU를 지원하는 초소형 통신 미들웨어• DSP, AVR, PIC 등의 MPU/MCU Board 지원• Windows, Linux OS 지원• CAN, RS-232, USB, TCP/IP 통신 미디어 지원

• 특징:– 각 플랫폼에 따라 C언어 library로 구현됨– 중앙제어기와장치간 통신– 단순한 프로토콜– 고속 통신

Application

RCM

OS/Firmware

HardwareCAN, RS-232, USB, TCP/IP

Application

RCM

OS/Firmware

Hardware

Page 43: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

3차원 동역학 시뮬레이션

• RecurDyn을 기반으로 에디터 구현

• 2차원, 3차원 모델링 환경 제공• 로봇에 사용되는 센서 모델링 및시뮬레이션

Page 44: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Webots 플러그인 시뮬레이션

• Webots 로봇 시뮬레이터 플러그인 개발– 3차원 모델링– 센서, 액츄에이터 모듈– 동역학 모듈

Page 45: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

모바일 로봇 시뮬레이션

• 로봇 센서/액츄에이터 시뮬레이터 개발– 2차원 모델링– 센서(IR, Sonar, Laser finder) 시뮬레이션– 모터(Servo Motor) 시뮬레이션

Page 46: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Markov 위치인식

• Hokuyo, Leuze Laser finder 사용• 40m x 30m 지도, 10cm x 10cm 셀의 크기

• 특징:– 계산 량이 많아 속도가 느림, 초기위치 설정이 필요없음

<Laser finder를 이용한 Markov localization> <Sonar sensor를 이용한 Markov localization>

Page 47: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Particle filter 위치인식

• Grid map에서 Particle filter 위치인식 및 VFH를 응용한 이동• Laser finder를 사용한 SLAM• 특징:

– Particle filter는 계산 속도가 빠른 대신 초기 위치 설정이 필요함

Page 48: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

RFID 태그를 사용한 위치인식

• 지면의 RFID 태그를 이용한 위치인식– 위치인식을 위해 RFID 센서와 Particle filter 사용– RFID tag로 topological map을 만듦

Page 49: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

Visual Servoing

• 특징점 기반 Disparity를 이용한 견실한 3차원 위치정보 획득• 센서기반 실시간 경로 작업 계획(협조제어)• 양팔 작업의 분류 단계에 따른 부드러운 작업 생성

Page 50: Robot Software Platform · Built-in robotic arm control No No Yes Yes No No No Built-in object recognition Yes No No Yes No No No Built-in navigation Yes No No Yes No No No Task/skill

전신공조

• 전신공조 (Whole Body Coordination) 알고리즘 개발– 동력학 시뮬레이션을 이용한 통합시스템의 안정성 검증 기술– 매니퓰레이터의 움직임을 보상하는 전신공조 알고리즘 기술– 동적 환경에서의 안정성 확보를 위한 실시간 CoM, ZMP 보상 알고리즘 기술


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