• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2406-2410
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• 2004

2족 보행로봇은 그 구조적인 특성상 인간 생활환경에 적용이 용이하며 바퀴형 로봇이 이동하기 어려운 환경에서도 이동이 가능하다. 그러나 2족 보행로봇은 높은 자유도와 직렬형 링크 구조로 인해 안정도 해석과 제어가 어려운 점이 있으며 이는 로봇을 제작하는데 있어 난점으로 작용한다. 본 연구에서는 로봇의 발바닥에 압력센서를 설치하여 ZMP(Zero moment point)를 측정하여 안정도를 판별하고 신경망 이론을 이용하여 보행 안정도를 개선하도록 로봇의 자세를 제어하였다.

• Journal of Advanced Navigation Technology
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• v.16 no.4
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• pp.586-592
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• 2012

One approach of the control of a nonlinear system that has gained some success employs a fuzzy structure in cooperation with a neural network(ANFIS). The traditional ANFIS can only model and control the process in single-dimensional output nature in spite of multi-dimensional input. The membership function parameters are tuned using a combination of least squares estimation and back-propagation algorithm. In the case of a mobile robot, we need to drive left and right wheel respectively. In this paper, we proposed the control system architecture for a mobile robotic system that employs the 2-input 2-output ANFIS controller for trajectory tracking. Simulation results and preliminary evaluation show that the proposed architecture is a feasible one for mobile robotic systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.1-6
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• 2012

In this paper, we present an obstacle avoidance control algorithm for mobile robots based on SFLC (single-input fuzzy logic controller) with an efficient fuzzy logic look-up table to replace the traditional complicated operation. This method achieves better performance than traditional methods in terms of efficiency. The output of a SFLC leads the robot to the target automatically although many obstacles on the path. Our experiments show that the robot has good performance in the view of path tracking and other efficiency.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.289-294
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• 2001

The two prototypes of a Wheel Type Locomotive Mechanism Using Micro motor for a Capsule-Type Endoscope are outlined and realized. Basic concept of these mechanisms is to use a rod-shaped wheel, with which these mechanisms can go over the haustral folds inside colon. The actuator of Prototype I is geared dc motor and the actuator for steering is Shape Memory Alloy. Prototype I goes through the whole area of colonoscopy training model. Prototype II can not only go forward and backward, but also be steerable with 2 geared dc motors. Prototype II goes through dead pig colon.

• 전자공학회논문지 IE
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• v.45 no.2
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• pp.28-33
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• 2008

The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer system. the position and direction of the robot is recognized quickly using color tag on the shoulder of robot and special personal computer. Humanoid robot soccer system in this paper develops better in existent wheel-driven soccer robot. Forward, through a lot of studies, self-moving soccer game like human with humanoid is possible.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• 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.26 no.2
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• pp.314-321
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• 2002

An endoscope is usually inserted into the human body for the inspection of the gullet, stomach, and large intestine (colon) and this may cause discomfort to patients and damage to tissues during diagnostic or therapeutic procedures. This situation necessitates a self-propelling endoscope. There are many kinds of mechanism to move in a rigid pipe. However, these methods are difficult to apply directly to the endoscope. The main reason is that human intestine cannot be considered as a uniform, straight, and rigid pipe. This paper proposes a flexible loop wheel mechanism, which is adaptable to the human intestine. This mechanism is designed and fabricated by a simple modeling, and tested by an experiment. Finally, the actuator is inserted into the pig colon.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1719_1720
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• 2009

Wheeled mobile robot has different mobility and steerability which determined by type of wheel and it's arrangement. Generally wheeled mobile robot's dynamics are nonlinear and various control methods have studied to control the mobile robot efficiently. In this paper, a T-S fuzzy modeling of a 2-wheeled mobile robot is mand a stable LMI-based state feedback fuzzy controller is designed and applied to the position control of the mobile robot for the reference trajectory following. Also, the verification of the designed controller is done by computer simulation.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.18-23
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• 2013

Omni-directional robot is a typical holonomic constraint robot that has three degrees of freedom movement in 2D plane. In this study, a new omni-directional robot whose wheels are arranged in radial directions was proposed to improve driving performance of the robot. Unlike a general omni-directional robot whose wheels were arranged in a circumferential direction, moments do not arises in the proposed robot when the robot travels in a straight line. To analyze driving performance, dynamic modeling of the omni-directional robot, which considers friction and slip, was carried out. By friction measurement experiments, the relationship between dynamic friction coefficient and relative velocity was derived. Dynamic friction coefficient according to the angle difference between robot travel direction and wheel rotation direction was also obtained. By applying these results to the dynamic model, driving performance of the robot was calculated. As a result, the proposed robot was 1.5 times faster than the general robot.