• 로봇학회논문지
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• 제5권3호
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• pp.209-215
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• 2010

This paper presents a graphic user interface system consisting of graphic simulator and remote control system for a building cleaning robot. It provides a tool of convenient 3D graphical map construction for real world. The 3D map is reconstructed from existing 2D building CAD data with DXF format by using OpenGL graphic API. Through this system, graphic display of robot's status information, remote control and cleaning scheduling can be done for a building cleaning robot. This proposed system is expected to give efficient way of graphic simulation and remote monitoring and control system for a building cleaning robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.404-407
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• 2003

In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

• 한국엔터테인먼트산업학회논문지
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• 제8권2호
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• pp.283-297
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• 2014

미래 인간의 삶은 사회, 경제, 정치와 개인 등 삶의 전 영역에 걸쳐 다학제적 기술의 파급효과 증대에 의해 혁신될 것이다. 특히 로봇 분야와 로봇을 이용한 차세대 게임 분야에서는 다학제적 기여와 상호작용에 의해 더욱 더 기술간 융합화가 가속화 될 것으로 전망된다. 본 연구는 지금까지의 "인간-로봇 인터페이스 기술"의 기술적인 한계 및 시공간적 제약을 뛰어넘는 새로운 인터페이스 모델로, 기존 인간-로봇 인터페이스 기술에서 가질 수 없는 다양한 모달리티(modality)들의 융합을 통해 보다 신뢰성 있으며 편하고 자유로운 "인간-로봇 인터페이스 기술"의 연구이다. 이족보행의 휴먼로봇과 모바일 기기 화면의 3D 콘텐츠(contents) 로봇(가상로봇)의 동작과 위치 값을 실시간적으로 연동하는 동기화(Synchronization) 엔진을 개발하고, 상호간의 정보를 주고받기 위한 무선 프로토콜(Protocol) 및 효율적인 티칭(Teaching)을 위한 학습에 의한, 다이렉트 티칭앤플레이(Direct Teaching & Play)의 티칭 프로그램 개발과, 이를 이용한 로봇 게임 시스템을 연구한다.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.168-177
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• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• 로봇학회논문지
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• 제2권3호
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• pp.282-287
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• 2007

Humanoid and android robots are emerging as a trend shifts from industrial robot to personal robot. So human-robot interaction will increase. Ultimate objective of humanoid and android would be a robot like a human. In this aspect, implementation of robot's facial expression is necessary in making a human-like robot. This paper proposes a dynamic emotion model for a mascot-type robot to display similar facial and more recognizable expressions.

• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.566-573
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• 2017

Develop a leg walking robot with 'Janssen mechanism'. Using 'ScienceBox' base and add more items to improve moving speed and balance of the robot. To make the robot better, made optimized drawing and produced it using plastic with 3D printer and acyrl with Laser cutting machine.

• 한국생산제조학회지
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• 제20권2호
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• pp.133-138
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• 2011

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.

• 드라이브 ㆍ 컨트롤
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• 제16권3호
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• pp.33-41
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• 2019

This study presents the development of a lifetime test bench for the strain wave reducer which is a precision gear reducer of the robot to realize fault diagnosis and failure prognostics. To this end, the lifetime test bench was designed to detect the vertical forward/reverse direction rotation load. Through the lifetime test bench, it is possible to apply the same load spectrum from robot working scenarios. We developed a data integration gateway for fault data collection. Through the development of dedicated software for fault diagnosis and failure prognostics, these data from vibration, noise and temperature sensors were collected and analyzed along with the operation of the lifetime evaluation.

• 한국전자통신학회논문지
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• 제17권5호
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• pp.933-940
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• 2022

2차원 영상 센서를 이용하여 조종자의 3차원 손 위치를 인식하고 이를 기반으로 원격으로 6축 로봇팔을 제어하는 시스템을 개발하였다. 시스템은 물체의 영상정보를 인식하는 2차원 영상 센서 모듈, 영상정보를 로봇팔 제어 명령어로 전환하는 알고리즘, 자체 제작한 6축 로봇팔 및 제어 시스템으로 구성된다. 영상 센서는 조종자가 착용한 장갑의 모양과 색을 인지하여 크기 및 위치정보를 출력하게 되며, 본 연구에서는 이러한 위치 및 물체를 둘러싼 크기 정보를 이용하여 로봇 선단의 속도를 제어한다. 연구 방법의 검증은 자체 제작된 6축 로봇으로 실행하였으며, 조종자의 손동작 조종에 의한 실험을 통해 제안한 영상정보 제어 및 로봇 선단 제어 방법이 성공적으로 동작함을 확인하였다.

• 대한전자공학회논문지
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• 제27권8호
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• pp.1188-1200
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• 1990

In this paper, the 3-D positioning problem for a quadruped walking robot is investigated. In order to determine the robot's exterior position and orentation in a worls coordinate system, a stereo 3-D positioning algorithm is proposed. The proposed algorithm uses a Guide-Mark Pattern (GMP) specialy designed for fast and reliable extraction of 3-D robot position information from the uncontrolled working environment. Some experimental results along with error analysis and several means of reducing the effects of vision processing error in the proposed algorithm are disscussed.