TY - GEN
T1 - Group dancing mobile flower robots with moving mechanism, mobility and localization functions
AU - Kim, Woo Young
AU - Song, Il Hyeon
AU - Kim, Kyung Whan
AU - Park, Suk Ho
AU - Park, Jong Oh
PY - 2010
Y1 - 2010
N2 - Recently, the diverse robots with flower shape have been developed for use as interior, HRI, performance, and home appliance. In this research, we proposed new type mobile flower robots which have flower-Type design, mobility, and localization. Especially, the flower shape robot was designed to mimic the swaying of the branches and the blooming of the flowers. The branches and the flowers were actuated by tendon mechanism. And, the flower robots have the mobile platform which consists of three-wheels with the steering ability, respectively. The mobile platforms of the flower robot can locomote to the desired direction and track to the desired path. The localization of multi mobile flower robot was based on the smart floor using passive RFID tags and the extended Kalman filter to estimate of location(x, y) under non-detection of RFID tags. RFID tags which are equilateral triangulation grid pattern are distributed under the surface of the smart floor and each of RFID tags is able to present the unique information of location(x, y). In the experiment system RFID tags are mainly used for identifying location of the mobile flower robot. The extended Kalman filter is used to estimate the location(x, y) of the mobile flower robots when the robots are middle of tags or out of the range of RFID tags. In addition, the heading (θ) of mobile flower robot is estimated by the angle sensor. Finally, by using the motion of the branches and flowers and the mobility of the flower robots, the group dancing of the mobile flower robots was demonstrated. These group dancing mobile flower robots with the moving mechanism, the mobility, and the localization functions can be used for a public performance and an exhibition.
AB - Recently, the diverse robots with flower shape have been developed for use as interior, HRI, performance, and home appliance. In this research, we proposed new type mobile flower robots which have flower-Type design, mobility, and localization. Especially, the flower shape robot was designed to mimic the swaying of the branches and the blooming of the flowers. The branches and the flowers were actuated by tendon mechanism. And, the flower robots have the mobile platform which consists of three-wheels with the steering ability, respectively. The mobile platforms of the flower robot can locomote to the desired direction and track to the desired path. The localization of multi mobile flower robot was based on the smart floor using passive RFID tags and the extended Kalman filter to estimate of location(x, y) under non-detection of RFID tags. RFID tags which are equilateral triangulation grid pattern are distributed under the surface of the smart floor and each of RFID tags is able to present the unique information of location(x, y). In the experiment system RFID tags are mainly used for identifying location of the mobile flower robot. The extended Kalman filter is used to estimate the location(x, y) of the mobile flower robots when the robots are middle of tags or out of the range of RFID tags. In addition, the heading (θ) of mobile flower robot is estimated by the angle sensor. Finally, by using the motion of the branches and flowers and the mobility of the flower robots, the group dancing of the mobile flower robots was demonstrated. These group dancing mobile flower robots with the moving mechanism, the mobility, and the localization functions can be used for a public performance and an exhibition.
UR - http://www.scopus.com/inward/record.url?scp=84881399852&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84881399852
SN - 9781617387197
T3 - Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
SP - 1032
EP - 1037
BT - Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
T2 - Joint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010
Y2 - 7 June 2010 through 9 June 2010
ER -