Yoonseok Pyo

Kyushu University | Kyudai · Graduate School of Information Science and Electrical Engineering

Daily life assistance is one of the most important applications for service robots. For comfortable assistance, service robots must recognize the surrounding conditions correctly, including human motion, the position of objects, and obstacles. However, since the everyday environment is complex and unpredictable, it is almost impossible to sense all...

Abstract An informationally structured environment (ISE) is a key technology for realizing service robots in daily life in the near future. In ISE, the information of the service robot and its surroundings is structured and provided to the robot on time and on demand. We started the development of a management system for ISE named TMS (Town Managem...

In this paper, we present a control architecture that enables a service drone to navigate in an informationally structured environment (ISE) and to accomplish a specific service task autonomously based on the ROS-TMS framework. The ROS-TMS is a ROS-based distributed information management system for ISE. It manages a variety of subsystems ranging f...

In this paper, we present a control architecture that enables a service drone to navigate in an informationally structured environment (ISE) and to accomplish a specific service task autonomously based on the ROS-TMS framework. The ROS-TMS is a ROS-based distributed information management system for ISE. It manages a variety of subsystems ranging f...

This paper presents a new immersive interface connecting cyber and physical worlds for Cyber Physical System (CPS). Informationaly structured environment (ISE) in which environmental information is gathered by embedded sensor networks and stored in a database structurally is one of key technologies for developing a practical service robot. We have...

Daily life assistance for elderly individuals in hospitals and care facilities is one of the most urgent and promising applications for service robots. Especially, a fetch-and-give task is a frequent and fundamental task for service robots to assist elderlys daily life. In hospitals and care facilities, this task is often performed with a movable p...

This paper proposes a small, lightweight, and easily-relocated sensor terminal named "Portable" for acquiring a variety of environmental information. The Portable is equipped with a variety of sensors including a pyroelectric sensor, a proximity sensor, a sound pressure sensor, a thermometer, a hygrometer, a gas sensor, a flame sensor, and a laser...

This paper presents a framework of a task management system for the informationally structured architecture, ROS-TAM, and information structured task management experiments using different types of robots and service tasks. The proposed system interprets user's request, plans a proper robot service, issues a series of robot commands suitable for th...

This paper proposes a new concept of "fourth-person sensing" for service robots. The proposed concept combines wearable cameras (the first-person viewpoint), sensors mounted on robots (the second-person viewpoint) and sensors embedded in the informationally structured environment (the third-person viewpoint). Each sensor has its advantage and disad...

This paper presents a new human-robot interface for the informationally structured environment consisting of an immersive VR display (Oculus Rift DK2), a stereo camera (Ovrvision), an optical tracking system (Bonita, Vicon) and an environmental simulator (Choreonoid).

The application of assistive technologies for elderly people is one of the most promising and interesting scenarios for intelligent technologies in the present and near future. Moreover, the improvement of the quality of life for the elderly is one of the first priorities in modern countries and societies. In this work, we present an informationall...

Service robots, which co-exist with humans to provide various services, obtain information from sensors placed in an environment and/or sensors mounted on robots. In this paper we newly propose the concept of fourth-person sensing which combines wearable cameras (first-person sensing), sensors mounted on robots (second-person sensing), and distribu...

We aim to develop a multi-fingered hand which grasps various objects. We develop a finger equipped with soft fingertip and two layers nails. The first layer of the nails is thin and long. It is possible to insert it into the bottom of the object. The second layer of the nails is thick and short. It supports the elastic force of soft fingertip. We d...

This paper introduces an information processing architecture named ROS-TMS for informationally structured environment. This architecture enables to handle several practical service tasks such as state estimation in a room using accumulated information in a database, and automatic planning and execution for suitable service tasks. As an application...

This paper describes a new method of measuring the position of everyday objects and a robot on the floor using distance and reflectance acquired by laser range finder (LRF). The information obtained by this method is important for a service robot working in a human daily life environment. Our method uses only one LRF together with a mirror installe...

This paper describes a method of measurement and estimation of human behaviors in a room together with the layout of objects on the floor. The information obtained by the method is essential for a service robot working in a human daily life environment. The method uses only one laser range finder (LRF) installed in the room and a strip of mirror at...

Daily life assistance for elderly is one of the most promising and interesting scenarios for advanced technologies in the near future. Improving the quality of life of elderly is also some of the first priorities in modern countries and societies where the percentage of elder people is rapidly increasing due mainly to great improvements in medicine...

We developed a service robot that picks up everyday objects. The robot is equipped with a small manipulator and a Kinect sensor. A role of the robot is to collect objects which lie scattered on the floor of a room before a cleaning robot (Roomba) works. The robot uses not only a sensor mounted on it but also one laser range finder (LRF) installed i...

This research aims to realize a service robot for grasping various objects in daily life. Therefore, this paper presents a grasping method based on joint angle control for a multi-fingered hand with soft fingertips. This method is robust to the fingertip position error and the object position/posture error. Since the soft fingertip deforms elastica...

This paper presents a high-precision three-dimensional laser measurement system of an architectural structure by cooperative multiple mobile robots. This system is composed of three mobile robots, that is, a parent robot and two child robots. The parent robot is equipped with a three-dimensional laser scanner, attitude sensor, total station, and au...