• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.202-204
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• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a Transformation algorithm of an Leg-wheel Hexapod Robot is proposed. Robot designed as can have advantages that do transfer possibility fast mobility in flat topography and uneven topography through walk that use wheel drive. In the proposed system, using the disparity data obtained from the left and right images captured by the stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Robot uses construed environmental data and transformation algorithm, decide wheel drive and leg waik, and can calculate width of street and regulate width of robot.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.72-75
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• 2001

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.255-257
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• 2007

In this paper, we develop a single wheeled robot that has one wheel to move. The single wheel robot is similar to a rolling disk relying on gyroscopic motions to balance. The Gyrobo consists of three actuators: a spin motor, a tilt motor and a drive motor. The spin motor spins a flywheel at high rate so that it provides the balancing stability to upright the robot. The tilt motor controls steering of the robot by gyroscopic effect. The drive motor make forward accelerated motion to the robot. We have built and tested the Gyrobo to turn and move forward.

• Journal of Korea Society of Digital Industry and Information Management
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• v.9 no.1
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• pp.73-78
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• 2013

In this paper, configuration control for the Horizontal Maintenance of the 2 wheel robot has been studied using ARS(Attitude Refrence System). The 2 wheel robot technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a 2 wheel robot can move in various modes and Our robot performs goal reaching ARS.2 wheel robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the ARS control.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.947-948
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• 2006

This paper proposes a robust posture stabilization control method for wheeled mobile robots. To solve the robust posture stabilization, we introduce reference generation mode, reference tracking mode, and reference regulation mode. In reference generation mode, a kinematic time-invariant controller is used to generate the reference trajectory which starts from the initial posture of the actual robot to the desired posture. In reference tracking mode, a sliding mode position controller is employed in such a way that the actual robot can follow the reference trajectory in the desired forward or backward moving direction, even in the presence of the disturbances in the dynamics. In reference regulation mode, a sliding mode heading direction controller is used such that the actual robot can maintain the desired posture against the disturbances. In this way, robust posture stabilization can be achieved at almost all global regions.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.139-144
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• 2014

This paper presents the novel design, implementation and control of a single-wheel mobile robot that can balance by using air power from ducted fans. All of the motions of the single-wheel mobile robot are actuated by air power instead of motor torques. Using air power allows to reduce the total weight of the robot. The complementary sensor fusion algorithm is introduced to estimate the angle correctly. After several design and development, the robot is tested for balancing in the roll direction and yawing motion. In addition, the balancing control of the robot on a single rope is tested to evaluate the control performance.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.2
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• pp.335-341
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• 2016

In general, a yawing motion concept is used for the lateral control of one wheel robot where the gimbal system is located horizontally. In this paper, another concept of the vertically located gimbal system is presented for the same purpose. Although the vertical concept undergoes an instability more easily than the horizontal one, the pitching motion of the gyroscopic effect is considered. Firstly, the trade-off relation between two balancing concepts are investigated by comparing the gyroscopic mechanism. Secondly, the dynamic model for the problem of the proposed concept is derived using the oscillatory inverted stick model. Thirdly, the stability of the model is analyzed using the phase trajectory method. Finally, the control performance of the system by a vibration controller is simulated.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.3
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• pp.401-407
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• 2019

In this paper, the position estimation considering wheel slip of mecanum wheeled mobile robots is discussed. Since the mecanum wheeled mobile robot does not need a space to rotate, it is very suitable in narrow industrial fields. However, the slip caused by the roller attached to the wheel makes it difficult to estimate the position precisely. Due to these limitations, mecanum wheels are rarely applied to unmanned mobile robots in automation factories. In this paper, a method to compensate the orientation and distance error caused by the slip is proposed. The exact orientation is measured by fusing gyro and magnetometer sensor data with application of Kalman filter. In addition, the kinematic model accounting slip effects will be defined to compensate the distance error.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.8
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• pp.1-8
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• 2020

Air ducts installed for ventilation inside buildings accumulate contaminants during their service life. Robots are installed to clean the air duct at low cost, but they are still not fully automated and depend on manpower. In this study, an intersection detection algorithm for autonomous driving was applied to an air duct cleaning robot. Autonomous driving of the robot was achieved by calculating the distance and angle between the extracted point and the center point through the intersection detection algorithm from the camera image mounted on the robot. The training data consisted of CAD images of the duct interior as well as the cross-point coordinates and angles between the two boundary lines. The deep learning-based CNN model was applied as a detection algorithm. For training, the cross-point coordinates were obtained from CAD images. The accuracy was determined based on the differences in the actual and predicted areas and distances. A cleaning robot prototype was designed, consisting of a frame, a Raspberry Pi computer, a control unit and a drive unit. The algorithm was validated by video imagery of the robot in operation. The algorithm can be applied to vehicles operating in similar environments.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.6
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• pp.744-750
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• 2015

In this paper, development of mobile robot for the inspection of hull surface was mentioned. In the sea, it is difficult to proceed with the visual inspection of hull side and thus mobile robot for checking the status could be run with strap-on its surface. To do this, permanent magnet module to generate magnetic force between hull surface and mobile robot, and structure to minimize variance of the force under curvature circumstance were considered on the design. Based on the design, mobile robot with four NdFeB, four driving wheels and image aquisition module was applied. Load experiment to check the adhesive force, slip test during stop state and driving test to measure driving speed were executed. From the experiments 13 Kgf adhesive force was obtained and slip was not happened until 8 Kgf load on the inclined plate. Driving speed of mobile robot was measured at 0.82 m/s corresponding to 6.5 ampere. We confirmed the effectiveness of developed mobile robot by experiments to check its characteristics.