• 한국군사과학기술학회지
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• 제18권4호
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• pp.451-458
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• 2015

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.

• 한국군사과학기술학회지
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• 제17권6호
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• pp.853-860
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• 2014

This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.

• 로봇학회논문지
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• 제11권4호
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• pp.235-241
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• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 춘계학술발표대회
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• pp.735-736
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• 2016

본 논문에서는 다수의 로봇으로부터 습득한 센서 데이터를 효율적으로 처리하기 위한 플랫폼을 제안한다. Master-Slave 구조의 분산처리 서버를 통해 센서 데이터를 실시간으로 처리하고, 처리된 데이터는 비정형 데이터 형태로 DB 서버를 통해 분산 저장 및 관리한다. 제안하는 설계를 통해 다수의 로봇이 생성한 센서 데이터를 성능 저하 없이 처리할 수 있는 플랫폼을 구축하였고, 다수의 2D 카메라 센서를 활용하여 처리 성능을 실험하였다.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.640-645
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• 2013

This paper presents a step length estimation algorithm for Pedestrian Dead Reckoning using linear calibrated ZUPT (zero velocity update) with a foot mounted IMU. The IMU consists of 3 axis accelerometer, gyro and magnetometer. Attitude of IMU is estimated using an inertial navigation algorithm. To increase accuracy of step length estimation algorithm, we propose a stance detection algorithm and an enhanced ZUPT. The enhanced ZUPT calculates firefighter's step length considering velocity error caused by sensor bias during one step. This algorithm also works efficiently at various motions, such as crawling, sideways and stair stepping. Through experiments, the step length estimation performance of the proposed algorithm is verified.

• 로봇학회논문지
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• 제12권4호
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• pp.441-447
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• 2017

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.

• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.753-757
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• 2015

This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.