• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.725-730
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• 2012

In this paper, we propose the localization algorithm for the cooperative behavior of the swarm robots based on WSN (Wireless Sensor Network). The proposed method is as follows: First, we measure positions of the L-bot (Leader robot) and F-bots (Follower robots) by using the APIT (Approximate Point In Triangle) and the RSSI (Received Signal Strength Indication). Second, we measure relative positions of the F-bots against the pre-measured position of the L-bot by using trilateration. Then, to revise a position error caused by noise of the wireless signal, we use the particle filter. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.107-113
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• 2010

In this paper, a prototype of cooperative work model for multi-robots system is introduced and the evolutionary approach is applied to generate the motions for the cooperative works of multi-robots system using genetic algorithm. The cooperative tasks can be performed by a humanoid robot and a mobile robot to deliver objects from shelves. Generation of the humanoid motions such as pick up, rotation, and place operation for the cooperative works are evolved. Modeling and computer simulation for the cooperative robots system are executed in Webots environments. Experimental results show the feasible and reasonable solutions for humanoid cooperative tasks are obtained.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.64-69
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• 2016

In this paper, a marathon of a humanoid robot is introduced, and its strategy is proposed. In order to develop humanoid robots for the purpose of cooperation and symbiosis with humans, the technologies such as increasing operating time and stability or recognizing surrounding environment are more important. One proper research model for the technologies is a human's marathon. In this paper, we introduce the human's marathon, and propose the humanoid robot's marathon. The marathon event of HuroCup has the most similar game rules to the human's marathon. The humanoid robot developed with the proper operating time, stability and ability to recognize the surrounding environment performed the marathon in HuroCup. The robot recognizes a marathon track using a computer vision, and builds the strategies for the race competition. By analyzing the experimental results, the humanoid robot performed in a real competition.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.427-431
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• 1996

A modeling of the dynamics of two cooperating robot manipulators doing assembly job such as peg-in-hole while coordinating the payload along the desired path is proposed. The system is uncertain due to the unknown mass and moment of inertia of the manipulators and the payload. To control the system, a robust control algorithm is proposed. The control algorithm includes fuzzylogic. By the fuzzy logic, the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation with keeping path tracking errors bounded.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.1
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• pp.130-134
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• 2012

In this paper, we propose a space partitioning technique for swarm robots by using the Centroidal Voronoi Tessellation. The proposed method consists of two parts such as space partition and collision avoidance. The space partition for searching a given space is carried out by a density function which is generated by some accidents. The collision avoidance is implemented by the potential field method. Finally, the numerical experiments show the effectiveness and feasibility of the proposed method.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.94-100
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• 1997

본 연구에서는 자동화된 VLSI 제조 시스템 환경에서의 로트 조정기 및 범용 셀 제어기의 구축에 필요한 새로운 소프트웨어 구조 및 프로토콜을 제시하였다. 반도체 제조 시스템의 운용 제어 활동은 로트 조정기와 범용 셀 제어기가 상호 협조적으로 통신하는 클라이언트/서버 구조로 모형화 되었으며, 로트 조정기는 하나 이상의 작업을 수행할 수 있는 범용 셀 제어기에 작업을 의뢰하는 클라이언트로서 작동된다. 반도체 제조 시스템의 운용 소프트웨어와 관련된 기존의 연구들이 개념적인 구조와 전략 만을 다루었던 것과는 달리, 본 연구에서는 생산 설비 뿐만 아니라 물류운반 장치의 제어를 위하여 상세한 수준에서의 설계가 제시되었다. 본 연구의 특징으로는 설비 구성, 로트 형태, 일정 계획 규칙 등의 변경에 대한 동적 재구성 가능성을 들 수 있다. 또한 제안된 설계는 상용화된 프로세스 통신 기능을 사용하여 구현이 용이하다.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.4
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• pp.452-460
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• 1999

Sawing experiments using a two-arm system have been performed in this work. The two-arm system under consideration of two kinematically-nonidentical arms. A passive joint is inserted at the end-point of one robot in order to increase the mobility up to the motion degree required for sawing tasks. A hybrid control algorithm for control of the two-arm system is designed. We experimentally show that the performance of the velocity and force response are satisfactory, and that one additional passive joint not only prevents the system from unwanted yaw motion in the sawing task, but also allows an unwanted pitch motion to be notably reduced by an internal load control. To show the general applicability of the proposed algorithms, we perform experimentation under several different conditions for saw, such as three saw blades, two sawing speeds, and two vertical forces.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1079-1085
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• 2000

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). An immune system is the living bodys self-protection and self-maintenance system. these features can be applied to decision making of the optimal swarm behavior in a dynamically changing environment. For applying immune system to DARS, a robot is regarded as a B-cell, each environmental condition as an antigen, a behavior strategy as an antibody, and control parameter as a T-cell, respectively. When the environmental condition (antigen) changes, a robot selects an appropriate behavior strategy (antibody). And its behavior strategy is stimulated and suppressed by other robots using communication (immune network). Finally, much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and immune network hypothesis, and it is used for decision making of the optimal swarm strategy. Adaptation ability of the robot is enhanced by adding T-cell model as a control parameter in dynamic environments.