Chang-Soo Han

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The need for an intelligent transport system has been heightened in the present day, by the ever-growing demand to combine ease of transport with maximum efficacy. The Segway robot provides a platform which balances itself and transports the user in accordance to its natural lean. However in order to achieve a truly intelligent system, challenges(More)
This paper presents a 3D point cloud map construction method based on extracted line segments with two mutually-perpendicular laser sensors in unknown indoor environment. To correct the position of mobile robot, the line segments are extracted from the raw sensor data from a horizontally installed laser sensor. In each step, these extracted segments are(More)
The simultaneous localization and mapping (SLAM) in 2D unknown environment based on the natural corners is presented in this paper. The corners are chosen as landmarks by finding the intersection points or the end points of the line segments extracted from the raw sensor data. The mapping is constructed by the Improved Extended Kalman Filter (IEKF) based(More)
We propose an algorithm of reliable detection of line for unmanned navigation of mobile robots using sensor fusion. To detect the distance and the angle between the robot and the line, we use a vision sensor system and a laser range finder (LRF). Each sensor system runs its own extended Kalman filter (EKF) to estimate the distance and orientation of the(More)
In this paper, we propose and experimentally test a dynamic model-based force controller for the motion of upper limb exoskeleton robot. The system is composed of 3 degrees of freedom using an electrical actuator. This system is mainly controlled by the multi-axis force sensor signals. These are used to generate desired torques for driving the robot system.(More)
Purpose Operators and drivers are easily exposed to danger by excavators is operating in dangerous places such as slopes, soft ground, building dismantling sites, distressed areas, and construction waste land-fills. For the safe use of conventional excavators as a tele-operated system without any renovation, feedback information of the boom, arm, and bucket(More)
This paper presents the manipulation planning of a dual-arm robot for an assembly task. To assemble the parts, two types of paths for the robot are required: assembly and re-grasping. The assembly path assembles and holds the objects with a fixed grasp, while the re-grasping path changes the robots grasp on objects depending on how the object was picked up(More)