• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.573-579
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• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.275-284
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• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

• Annual Conference of KIPS
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• 2019.10a
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• pp.1034-1037
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• 2019

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 사용하는 벽면 이동로봇의 구성과 로봇 내부에서의 균열검출 및 처리 프로세스에 관한 연구이다. 임베디드 시스템에서 기계학습을 이용한 균열검출을 구현하기 위해 YOLO v3를 수정하여 구동하였으며, 검출된 균열의 영상을 저장하고 위치 정보를 추정하였다. 또한, 균열 정보를 수집하기 위해 고정 IP를 갖는 서버를 구축하고 각 기기 간의 효율적인 통신 네트워크를 구성하였다. 본 기술은 균열검출 작업뿐만 아니라 보수작업에도 활용될 수 있어, 대형 구조물과 건축물 등의 안전진단뿐만 아니라 안전성 향상에 이바지할 수 있을 것으로 예상한다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.4
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• pp.781-790
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• 2008

In order to improve on the divergence by noise convariance in the Kalman filter position estimation, we propose a method of position estimating through compensating the autonomous mobile robot's noise. Proposed method is the modified Kalman filter using neural network. It is prevented the divergence by the estimation of measurement noise covariance and system noise covariance. In order to verify the effectiveness of the proposed method, we performed simulations and experiments for position estimation. The results show that convergence and position error is reduced than the Kalman filter method.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.427-435
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• 2023

This paper proposes a method of estimating the pose of a mobile robot by using a learning model. When estimating the pose of a mobile robot, wheel encoder and inertial measurement unit (IMU) data are generally utilized. However, depending on the condition of the ground surface, slip occurs due to interaction between the wheel and the floor. In this case, it is hard to predict pose accurately by using only encoder and IMU. Thus, in order to reduce pose error even in such conditions, this paper introduces a pose estimation method based on a learning model using data of the wheel encoder and IMU. As the learning model, long short-term memory (LSTM) network is adopted. The inputs to LSTM are velocity and acceleration data from the wheel encoder and IMU. Outputs from network are corrected linear and angular velocity. Estimated pose is calculated through numerically integrating output velocities. Dataset used as ground truth of learning model is collected in various ground conditions. Experimental results demonstrate that proposed learning model has higher accuracy of pose estimation than extended Kalman filter (EKF) and other learning models using the same data under various ground conditions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.6
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• pp.543-551
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• 2017

A campus guide robot was developed that can autonomously guide people through a university campus. The robot is able to evaluate its location using Differential Global Positioning System (DGPS) and Dead-Reckoning using the encoders mounted on its wheels. The robot can navigate autonomously along a guide route that is set in advance. A new position-based guidance approach was suggested. Unlike the conventional method of setting the guide sequence in advance, the robot acquires guidance by judging whether there is guide information corresponding to its current position. The robot searches guide information from the guide database while it moves along the guide path autonomously. If there is any guide information available around the location of the robot, then it performs guide functions. We also suggested an effective guide scenario that can maximize the interest of people. The performance of the robot was tested through sets of experiments in a true campus environment.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.674-682
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• 2009

The modular robot is one which was developed to get over limit of the space movement for the mobile robot. The chain type robot in particular is connected by series each other and this form expression method is simple and easy to really make a docking method efficiently. However, the related studies were focused on the movement that used to be combination, and the movement of a cell independent mainly does not consist and have a problem to dock only in a direction, not to be connected with all directions. Therefore, we suggested a modular structure for quick, independent movement to solve such a problem and had own autonomy. In addition, we are intended to get some effectiveness for connection mechanism using one locking motor. In this paper, we dealt with the design for the mechanical and electrical points and docking algorithm including communication method. All of the structure is verified with real action experiment through the shape expressions of various application platform.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.7
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• pp.799-807
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• 2014

This paper describes the development of an indoor locomotion assistive robot, Ball-Chair, comprising a novel drive system. This robot facilitates locomotion assistive operation in narrow spaces, in which common wheelchairs cannot move easily. The Ball-Chair has two main features: its structural feature and driving mechanism. The exoskeleton frames of the Ball-Chair have been designed with octagonal shapes resembling a circle, for minimizing its volume and weight. Additionally, all its driving parts (including the ball) are mounted within of the robot to enhance its safety. The Ball-Chair features a reverse ball-mouse driving mechanism comprising two driving omni-wheels in the x- and y-axes. By controlling the speed of each omni-wheel, a holonomic driving system that can facilitate omnidirectional locomotion has been achieved using only two wheels. The effective movement of the Ball-Chair in any direction within narrow indoor spaces was experimentally verified. The paper outlines the development procedure in detail.

• Journal of the Korean Society for Nondestructive Testing
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• v.34 no.1
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• pp.60-67
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• 2014

In this study, an automated cable non-destructive testing(NDT) system was developed to monitor the steel cables that are a core component of cable-stayed bridges. The magnetic flux leakage(MFL) method, which is suitable for ferromagnetic continuum structures and has been verified in previous studies, was applied to the cable inspection. A multi-channel MFL sensor head was fabricated using hall sensors and permanent magnets. A wheel-based cable climbing robot was fabricated to improve the accessibility to the cables, and operating software was developed to monitor the MFL-based NDT research and control the climbing robot. Remote data transmission and robot control were realized by applying wireless LAN communication. Finally, the developed element techniques were integrated into an MFL-based cable NDT system, and the field applicability of this system was verified through a field test at Seohae Bridge, which is a typical cable-stayed bridge currently in operation.