• 한국지능시스템학회논문지
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• 제24권2호
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• pp.179-185
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• 2014

본 논문은 인간과 상호작용하는 엔터테인먼트 4족 애완 로봇과 스마트폰에서 로봇 조종이 가능한 로봇제어기 및 로봇에서 제공하는 센서 정보들을 이용하여 컴퓨터에서 가정용 기기들을 제어하는 홈스마트제어시스템을 구현하기 위한 것으로 로봇은 20 자유도를 가지면서 Microsoft사의 키넥트 센서, 적외선거리 센서, 3축 모션 센서, 그래픽 LCD, 온습도 및 가스 센서로 구성되어 있다. 로봇의 엔터테인먼트 기능을 구현하기 위하여 보행 알고리즘, 키넥트 센서를 이용한 모션 및 음성인식 알고리즘, 감정표현을 위한 알고리즘을 제시하였으며 로봇을 조종할 수 있는 스마트폰 로봇제어 알고리즘 및 가정용 기기를 제어하는 홈스마트제어 알고리즘을 제안하였다. 본 논문에서 제안한 알고리즘들은 구현한 로봇과 컴퓨터 및 스마트폰에 적용하여 실험으로 검증하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2721-2724
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• 2003

This paper deals with a manipulability analysis of multi-legged walking robots in acceleration domain, that is the dynamic manipulability analysis of walking robot. Noting that the kinematic structure of the walking robot is basically the same with that of the multiple serial robot system holding one object, the analysis method for cooperating robot is converted to that of walking robot. With the proposed method, the bound of achievable acceleration of the moving body is easily derived from the given bounds on the capabilities of Joint torques. Several walking robot examples are analyzed with proposed method under the assumption of hard contact, and presented in the paper to validate the method.

• 대한임베디드공학회논문지
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• 제7권3호
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.133-140
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• 2012

In this paper, we suggest a lifelike pattern generator for a quadruped walking system with a head, a tail, four legs and a torso. The system looks like a giant dinosaur which stands over 7 meters tall with its legs over 2 meters long. We focus on its lifelike naturalness. Thus, generating logical patterns in harmony with head-body-tail patterns and quadrupedal locomotion patterns makes you feel that the quadruped walking system is alive. The basic patterns of four legs and a body are obtained from a 3D graphic animation, which is made and captured from various motions of similar species in existence since the giant dinosaurs are exterminated. The dinosaur-like mechanism also is designed from bone and joint structures of quadrupedal animals. The lifelike pattern generator based on fuzzy logic could generate lifelike motions according to the dinosaur-like mechanism and the basic patterns. A series of computer simulations and experimental implements show that the pattern generator makes the quadruped walking system lifelike.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 봄 학술논문 발표대회
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• pp.221-222
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• 2023

The purpose of this study is to analyze the applicability and limitations of SPOT robots in the construction industry. The SPOT robot, which is being introduced to construction sites for smart construction with the progress of the 4th industrial revolution, is shaped like a four-legged dog and is equipped with various sensors for data collection and autonomous driving. In this study, hardware and software were analyzed, such as the size of the SPOT robot, mobility on slopes and heights, operating environment, and software functions that can collect data with a sensor weighing up to 14 kg. In addition, while the SPOT robot operates in a construction environment, performance such as stability, accuracy, signal connection distance, and obstacle avoidance are evaluated, and the applicability and limitations of the SPOT robot in the construction industry are analyzed. Based on this analysis, the purpose of this study is to evaluate when and how SPOT robots can be effectively used at construction sites, identify limitations, and derive contributions and improvements for the construction industry.

• 대한기계학회논문집A
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• 제24권1호
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• pp.118-123
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• 2000

Most quadruped walking robots under current research are individually controlling every joint ic make them step or walk according to an integrated strategy. Such methods are characterized by at least one pair of an actuator and a sensor installed per each 'oint so that the robots weigh execssively and move inefficiently in terms of energy expenditure. In addition, the task of controlling all the joints simultaneously is quite complex and prone to destabilize the robot motion. These respects keep the existing walking robots away from realistic applications such as transportation even if they have potentially, outstanding adaptability to swamps or uneven terrains as opposed to wheeled vehicles. So, this paper presents a new conceptual quadruped robot developed to walk and steer only with a minimal number of actuators owing to a closed-chain mechanism. To prove its actual performance including the adaptability to various types of terrains. experiments are done with the mammal-type prototype. And. it is also shown that the same concept can be easily extended to carry out different gait forms. for instance, that of spiders only with minor modifications.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권5호
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.397-403
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• 2016

Various walking robot platforms have been developed to carry out missions such as explorations, pass of obstacle or inspections of dangerous environments. In this work, a four legs mechanism based on Jansen mechanism is developed, which can follow a certain track and overcome obstacles. To find the ideal locus, computer programs are used such as M. sketch and Working model. Using these program tools, moderate linkage sizes are selected in Science Box. Furthermore, in order to optimize design of legs, a level average analysis is used as well as Edison S/W. Through the design optimization, improved stride of locus is found.

• Journal of Biosystems Engineering
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• 제32권5호
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• pp.339-347
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• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• 대한기계학회논문집A
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• 제21권8호
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.