지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Vol.41 No.5
- 발행연도
- 2024.5
- 수록면
- 401 - 405 (5page)
- DOI
- 10.7736/JKSPE.024.008
이용수
초록· 키워드
오류제보하기
The key components of smart manufacturing, a central concept in the era of the 4th Industrial Revolution, consist of digital twin technology, AI, and computer vision technology. In this study, these technologies were utilized to govern the Poppy robot, a humanoid robot designed for educational and research purposes. The digital twin creates a virtual environment capable of real-time simulation, analysis, and control of the robot’s motions. The digital twin of the robot was constructed using Unity, a 3D development program. Motion data was captured while simulating the physical structure and movements of the virtual robot. This data was then fed into a Tensorflow-based deep neural network to generate a regression modelthat predicts motor rotation based on the position of the robot’s hand. By integrating this model with a Python-based robot control program, the robot’s movements could be effectively managed. Additionally, the robot was controlled using Openpose, a computer vision algorithm that predicts characteristic points on a human body. Position data for human joint points was collected from 2D images, and the motor angle was calculated based on this data. By implementing this approach on an actual robot, it became possible to enable the robot to replicate human movements.
목차
1. 서론
2. 디지털 트윈 시뮬레이터를 활용한 Poppy Robot의 제어
3. Openpose를 활용한 Poppy Robot의 제어
4. 결론
REFERENCES
참고문헌 (19)
참고문헌 신청
Kang, H. S., Lee, J. Y., Choi, S., Kim, H., Park, J. H., Son, J. Y., Kim, B. H., Noh, S. D., (2016), Smart manufacturing: Past research, present findings, and future directions, International Journal of Precision Engineering and Manufacturing-green Technology, 3, 111-128.
He, Y., Guo, J., Zheng, X., (2018), From surveillance to digital twin: Challenges and recent advances of signal processing for industrial internet of things, Institute of Electrical and Electronics Engineers Signal Processing Magazine, 35(5), 120-129.
Blanchard, A., Nguyen, S. M., Devanne, M., Simonnet, M., Goff-Pronost, L., & Rémy-Néris, O, (2022). Technical feasibility of supervision of stretching exercises by a humanoid robot coach for chronic low back pain: The R-COOL randomized trial. BioMed Research International, 2022.
Lapeyre, M., Rouanet, P., Grizou, J., Nguyen, S., Depraetre, F., Le Falher, A., Oudeyer, P.-Y., (2014), Poppy project: Open-source fabrication of 3D printed humanoid robot for science, education and art, Digital Intelligence 2014, 6.
Mick, S., Lapeyre, M., Rouanet, P., Halgand, C., Benois-Pineau, J., Paclet, F., Cattaert, D., Oudeyer, P., de Rugy, A., (2019), Reachy, a 3D-printed human-like robotic arm as a testbed for human-robot control strategies, Frontiers in Neurorobotics, 13, 65.
He, Y., Guo, J., Zheng, X., (2018), From surveillance to digital twin: Challenges and recent advances of signal processing for industrial internet of things, Institute of Electrical and Electronics Engineers Signal Processing Magazine, 35(5), 120-129.
Blanchard, A., Nguyen, S. M., Devanne, M., Simonnet, M., Goff-Pronost, L., & Rémy-Néris, O, (2022). Technical feasibility of supervision of stretching exercises by a humanoid robot coach for chronic low back pain: The R-COOL randomized trial. BioMed Research International, 2022.
Lapeyre, M., Rouanet, P., Grizou, J., Nguyen, S., Depraetre, F., Le Falher, A., Oudeyer, P.-Y., (2014), Poppy project: Open-source fabrication of 3D printed humanoid robot for science, education and art, Digital Intelligence 2014, 6.
Mick, S., Lapeyre, M., Rouanet, P., Halgand, C., Benois-Pineau, J., Paclet, F., Cattaert, D., Oudeyer, P., de Rugy, A., (2019), Reachy, a 3D-printed human-like robotic arm as a testbed for human-robot control strategies, Frontiers in Neurorobotics, 13, 65.
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