• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.495-496
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• 2009

일반적으로 사용되고 있는 전동휠체어의 4바퀴 굴림 구조는 중증 장애인이나 노약자가 이동이 제한적이고, 전복 위험 등이 산재한다. 이러한 부분에서 오는 단점과 안전성의 문제를 해결하기 위해서 본 논문에서는 자유로운 동선이 가능하게 하고 센서를 적용하여 안전성을 확보하는데 목적을 두고 있다. 다양한 동선을 가지기 위해서 일반적인 바퀴가 아닌 "메카넘휠"을 장착하여 사용한다. 또 제어 방식에 있어서 핸들이라는 하나의 제어 장치 뿐만 아니라 심지어 게임기의 콘트롤러까지 다양한 범위를 수용하기 위해서 하드웨어 적인 확장이 용이한 환경을 사용한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.946-948
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• 2022

주차 공간의 부족으로 인해 생기는 문제점들을 해결하기 위해 기존 기계식 주차타워가 아닌 새로운 주차 방식으로 자동 주차 로봇을 만들어보고자 한다. A^* 알고리즘과 QR코드, 각종 센서들을 통해 인공지능 프로그램을 구현하고, 회전반경을 줄여 공간의 효율성을 극대화할 수 있는 메카넘휠을 사용해 모바일 주차로봇을 만들어본다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.333-334
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• 2012

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.117-123
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• 2014

In order to provide a mobile robot with omnidirectionality, various types of omnidirectional wheels have been developed. This paper deals with an improved design and structural analysis of a Mecanum wheel, which is the type of omnidirectional wheels most commonly used in industrial fields. A geometric formulation for manufacturingthe Mecanum wheel is presented and two types of Mecanum wheels are designed and fabricated in this research. While conventional assembled-type Mecanum wheels have a complicated structure and the high possibility of mutual interference between sub-components, a unified type of Mecanum wheel reduces the number of sub-components and increases the degree of structural rigidity. The stress and strain properties of the two designs are compared to confirm the quantitative improvement of the new design by a commercial structural analysis tool. The analysis results show that the unified type of Mecanum wheel has properties superior to the assembled type of Mecanum wheel in terms of its ability to reduce interference.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.713-717
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• 2014

In this paper, the travel control of the spherical wheeled robot with a mecanum wheel is impelemented. Four typical wheels or three omni wheels are used to consist of the ball-bot. the slip is occured when the typical wheels is used to the ball-bot. In order to reduce these slip, the spherical wheeled robot with macanum wheels is proposed. Through some experiments, we find that the proposed spherical wheeled robot with a mecanum wheel is superior to the conventional spherical wheeled robot with typical wheels.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.283-288
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• 2024

In this paper, a novel mechanism for overcoming obstacles is studied by designing an All-Directional RC car for obstacle traversal and creating test courses with various obstacles. We propose an algorithm for controlling the RDS3115 servo motor and utilize a gyro sensor to detect the incline of various obstacle terrains, adjusting the servo motor's angle to enable the RC car to navigate the terrain. Through terrain experiments in the test course, we determined the most suitable RC car turning angles for traversing all obstacle terrains created in the experimental terrain.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.374-379
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• 2014

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1161-1169
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• 2013

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.1
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• pp.84-89
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• 2014

In this paper, an image-based visual servo control strategy for tracking a target object is applied to a camera-mounted omni-directional mobile robot. In order to get target angular velocity of each wheel from image coordinates of the target object, in general, a mathematical image Jacobian matrix is built using a camera model and a mobile robot kinematics. Unlike to the well-known mathematical image Jacobian, a simple rule-based control strategy is proposed to generate target angular velocities of the wheels in conjunction with size of the target object captured in a camera image. A camera image is divided into several regions, and a pre-defined rule corresponding to the target-located image region is applied to generate target angular velocities of wheels. The proposed algorithm is easily implementable in that no mathematical description for image Jacobian is required and a small number of rules are sufficient for target tracking. Experimental results are presented with descriptions about the overall experimental system.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.1
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• pp.21-27
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• 2022

Traditional automobile or 2-wheeled robot have limitations on mobility because of their mechanical structure. As traditional automobile is being replaced by electric cars, robot technology is applied to the car industry. In robotics, many researchers worked on omnidirectional mobile robot and produced lots of noticeable results. However in many of the results, specialized wheels such as Mecanum wheels are required. That imposes restrictions on robot speed and outdoor driving. We proposed a 2-wheeled modular robot that has omnidirectional mobility without using specialized wheels. In this paper, we propose a 4-wheeled omnidirectional mobile robot that consists of those two modular robots. The proposed robot adopts electric brakes to combine wheel housings and the robot body or to separate wheel housings from the robot body. Two absolute-type encoders and four incremental encoders are used to control the position of the wheel housing and velocities of the wheels. The proposed robot has omnidirectional mobility and can move fast and outdoor with normal tire wheels. We implemented the proposed robot and the feasibility and stability of the robot is verified by two separate experiments.