• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.740-742
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• 2022

본 프로젝트에서는 다양한 지형에 구애받지 않고 전천후로 활동할 수 있는 로봇을 구현하기 위해 바퀴형 로봇 보다는 4족 보행 로봇을 채택하여 지형 극복에 더 유리하고 안정적인 자세 제어와 보행을 할 수 있는 동시에 LiDAR 센서와 카메라 모듈을 이용한 SLAM(동시적 위치 추정 및 지도작성)과 원격으로 사물과 사람들을 파악할 수 있는 원격조종 탐사로봇을 개발하고자 한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.452-455
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• 2017

As the number of high - rise buildings has increased recently, this research society has become interested in the method of cleaning the external wall required. When cleaning these areas, an accident occurs every year when a person uses dangerous manual labor using a gondola. The main goal of this work is to enable people to manipulate the robot with simple operation without dangerous manual operation when working in a vertical structure. As the altitude increases, the concept of the mechanism attaching to the vertical structure while enduring the external resistance in the increase of the wind strength is applied, and the additional attachment device is attached to the end of the leg based on the existing four- According to the control, the development result of the robot having the function of detachable to the glass is presented.

• Journal of Space Technology and Applications
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• v.1 no.1
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• pp.64-75
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• 2021

On the moon as well as the earth, one of the easiest ways to understand geological formation history of any region is to observe the stratigraphy if it is available, the order in which the strata build up. By analyzing stratigraphy, it is possible to infer what geological events have occurred in the past. Mare Nubium also has an unique normal fault called Rupes Recta that shows stratigraphy. However, a rover moving with wheels is incompetent to explore the cliff since the Rupes Recta has an inclination of 10° - 30°. Therefore, a quadruped walking robot must be employed for stable expedition. To exploration a fault with a four-legged walking robot, it is necessary to design an expedition route by taking account of whether the stratigraphy is well displayed, whether the slope of the terrain is moderate, and whether there are obstacles and rough texture in the terrain based on the remote sensing data from the previous lunar missions. For the payloads required for fault surface exploration we propose an optical camera to grasp the actual appearance, a spectrometer to analyze the composition, and a drill to obtain samples that are not exposed outward.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.4
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• pp.419-425
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• 2014

This study applied finite element analysis (FEA) to the body frame of the 200-meter class multi-legged subsea walking robot known as Crabster (CR200). The body frame of the CR200 is modeled after the ribcage of a human so that it can disperse applied external loads. It is made of carbon-fiber-reinforced plastic (CFRP). Therefore, the frame is lighter and stronger than it would be if it were made of other conventional materials. In order to perform FEA for the CFRP body frame, we applied the material properties of the CFRP as obtained from a specimen test to an FE model of CFRP frame. Finally, we performed FEA with respect to the load conditions encountered when the robot is launched into and recovered from the sea. Also, we performed FEA for the frame, assuming that it was fabricated using a conventional material, in order to compare its characteristics with CFRP.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.4
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• pp.217-222
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• 2017

Recent studies for working robot in dangerous places have been carried out on large unmanned ground vehicles or 4-legged robots with the advantage of long working time, but it is difficult to apply in practical dangerous fields which require the real-time system with high locomotion and capability of delicate working. This research shows the collaborated docking system of drone and ground vehicles which combines image processing algorithm and laser sensors for effective detection of docking markers, and is finally capable of moving a long distance and doing very delicate works. We proposed the docking system of drone and ground vehicles with sensor fusion which also suggests two template matching methods appropriate for this application. The system showed 95% docking success rate in 50 docking attempts.