• ICROS
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• v.18 no.1
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• pp.20-25
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• 2012

자연계에 존재하는 생물체는 오랜 시간에 걸쳐 지구의 가혹한 환경에 적응하면서 다듬어져온 최적화된 작품이다. 이러한 동 식물의 생체 특징 모방은 기존 기술의 한계를 돌파하면서 가장 활발한 연구 분야로 자리 잡고 있다. 생체모방 로봇은 생체모방 기술의 한 분야로써 곤충, 새, 물고기, 그리고 여타 동물들을 연구해 생명체의 우수한 특성을 로봇기술에 접목함으로써 기존의 로봇 시스템이 극복하지 못했던 수많은 난제 해결에 도전중이다. 생체모방 로봇 기술의 최신 동향을 크게 세 줄기로 나누면 실용화, 생체분석법의 다양화, 모방대상의 다양화로 분류될 수 있다. 이 글에서는 이상에서 언급한 생체모방 로봇의 최신 동향에 대해서 소개한다.

• Journal of IKEEE
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• v.22 no.4
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• pp.1180-1187
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• 2018

This paper had implemented the underwater stage through interaction with fish robots and visitors in the background of traditional fairy tales using 3D floating hologram in an aquarium. The recognition of the object position of the spectator and the underwater robot were performed using the color recognition algorithm. Also, the position tracking algorithm was proposed to follow the object of the visitor and the original fairy tale. This experimental system consists of fish robot, camera, KIOSK for underwater robot control and beam project for underwater imaging. This experiment was carried out by the National Busan Science Museum, and it had satisfied the performance of the underwater stage.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.870-875
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• 2008

The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.

• The Magazine of the IEIE
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• v.38 no.7
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• pp.52-56
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• 2011

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.43-48
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• 2009

Generally, underwater vehicle type of propeller shows low efficiency about 50%-55%. However, the efficiency of swimming mechanism of a fish is 60%-70%, more efficient about 20% than screw propellers. Recently, research of underwater vehicle type of fish increase due to its good efficiency and is regarded as a typical bio-mimical robot. In this research, a new algorithm and mechanism that show low energy consumption imitating swimming mechanism of fish proposed increasing speed and running time in field trial.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.3
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• pp.56-62
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• 2010

Weakly electric fish uses active sensing to detect the distortion of self-generated electric field in the underwater environments. The active electrolocation makes it possible to identify target objects from the surroundings without vision in the dark sea. Weakly electric fish have many electroreceptors over the whole body surface of electric fish, and sensor readings from a collection of electroreceptors are represented as an electric image. Many researchers have worked on finding features in the electric image to know how the weakly electric fish identify the target object. In this paper, we suggest a new mechanism of how the electrolocation can recognize a given target object among object plants. This approach is based on the differential components of the electric image, and has a potential to be applied to the underwater robotic system for object localization.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1936-1937
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• 2011

본 논문에서는 수중 로봇의 추진에 대한 연구를 수행하였다. 특히, 물고기 꼬리 형태의 추진기에 대한 연구를 수행하였으며, 지느러미의 형태에 따라 발생하는 추진력의 특성에 대해서 실험을 통하여 살펴보았다. 실험 결과, 같은 동력이 가해지더라도, 추진체의 형상이 달라지면 발생하는 추력에도 차이가 남을 알 수 있었다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.421-422
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.321-322
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.611-612
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• 2009