서지주요정보
입체 카메라 구동장치를 이용한 행동기반 제어기 설계와 서비스 로봇에의 적용 = Design of a behavior-based controller using a novel camera head and its application to service robots
서명 / 저자 입체 카메라 구동장치를 이용한 행동기반 제어기 설계와 서비스 로봇에의 적용 = Design of a behavior-based controller using a novel camera head and its application to service robots / 최정이.
저자명 최정이 ; Choi, Jung-Yi
발행사항 [대전 : 한국과학기술원, 2001].
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등록번호

8012446

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 01123

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초록정보

As the application area of robots extends from the industrial robots to service robots, there arises a sharp need for intelligent robot agents. Many researches for implementing intelligent robots have been accomplished. In the field of Artificial Intelligence, they define the intelligence of a robot as the behavior planning of a robot based on the representing of knowledge and the deliberative reasoning. On the other hand, there is an approach for the reactive systems that can be explained as a “Sensing and Acting” mechanism using the information of environment. In this thesis, a behavior-based controller based on the visual information is proposed for implementing an intelligent robot that can be applied to a service robot. In a semi-structured environment as the application area of service robots, a reactive system using local information takes many advantages. In order to apply the behavior-based controller to the robotic arm, one behavior is proposed and fuzzy rule base is applied to fuse the behaviors intelligently. In addition, a novel camera head that can control the vergence movement of stereo cameras is designed for eye-in-hand configuration. A tendon driving mechanism is applied for a light and compact camera head and reducing backlash. A nonlinear driving mechanism based on the tendon driving mechanism is also proposed to enhance the accuracy of the depth extraction.

서지기타정보

서지기타정보
청구기호 {MEE 01123
형태사항 vii, 69 : 삽도; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Jung-Yi Choi
지도교수의 한글표기 : 변증남
지도교수의 영문표기 : Zeung-Nam Bien
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학전공,
서지주기 참고문헌 : p. 66-69
주제 행동기반 제어기
카메라 구동장치
서비스 로봇
behavior-based controller
camera head
service robot
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