• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.648-651
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• 1997

This paper proposes methods for the cooperative control of multiple mobile robots and constructs a robotic soccer system in which the cooperation will be implemented as a pass play of two robots. To play a soccer game, elementary actions such as shooting and moving have been designed, and Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulation, learning is successful in case of deliberate initial arrangements of ball and robots, thereby cooperative work can be accomplished.

• 로봇학회논문지
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• 제8권1호
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• pp.8-19
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• 2013

One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.

• 드라이브 ㆍ 컨트롤
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• 제18권1호
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• pp.31-38
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• 2021

This study presents a new principle for driving the robot aimed at reducing the position error for the boresonic examination of turbine rotor. The conventional method of inspection is performed by installing manipulator onto the flange of the turbine rotor and connecting a pipe, which is then being pushed into the bore. The longer the pipe gets, the greater sagging and distortion appear, making it difficult for the ultrasonic sensor to contact with the internal surface of the bore. A pneumatic pressure will ensure the front or rear feet of the robot in close contact with the inner wall to prevent slipping, while the ball screw on the body of the robot will rotate to drive it in the axial direction. The compression force required for tight contact was calculated in the form of a three-point support, and a static structural simulation analysis was performed by designing and modeling the robot mechanism. The driving performance and ultrasonic detection ability have been tested by fabricating the robot, the test piece for ultrasonic calibration and the transparent mock-up for robot demonstration. The tests have confirmed that no slipping occurs at a certain pneumatic pressure or over.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.58-66
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• 2005

Usual human gait can be modeled as continual impact phenomenon that happens due to the topological change of the kinematic structure of the two feet. The human being adapts his own control algorithm to minimize the ill effect due to the collision with the environment. In order to operate a Humanoid robot like the human being, it is necessary to understand the physics of the impact and to derive an analytical model of the impact. In this paper, specially, we focus on impact analysis of the kicking motion in playing soccer. At the instant of impact, the external impulse exerted on the ball by the foot is an important property. Initially, we introduce the complete external impulse model of the lower-extremity of the human body and analyze the external impulses for several kicking postures of the lower-extremity. Secondly, a trajectory-planning algorithm of a ball, in which the initial velocity and the launch angle of the ball are calculated for a desired trajectory of the ball, will be introduced. The aerodynamic effect such as drag force and lift force is also considered. We carry out numerical simulation and experimentation to verify the effectiveness of the proposed analytical methodology.

• 로봇학회논문지
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• 제9권4호
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.882-887
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• 2005

The paper describes Quasi-simultaneous recognition of plural targets and motion control of robot based on the recognition. The method searches for targets by model-based matching method using the hybrid GA, and the motion of the robot is generated based on the targets' positions on the image. The method is applied to a soccer robot, and targets are a ball, a goal, and an enemy in the experiment. The Experimental results show robustness and reliability of the proposed method.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.385-389
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• 2009

This paper deals with the enhancement of the complex potential navigation for wheeled mobile robots. The circle theorem from complex function theory is used to avoid an obstacle, and the enhancement to avoid multiple obstacles is proposed. The limit cycle navigation can be combined for robot to kick the ball to the intentioned direction. Avoiding step and superposing twin vortices can be applied to adjust the direction of robot's trajectory. The proposed method is verified through a set of simulation works, and the feasibilities for the enhancement of complex potential theory are successful.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.805-809
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• 2003

We developed a human-sized BWR(biped walking robot) named KUBIR1 driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIR1 was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize the information on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interface was developed based on the OpenGL tool. Through the graphic interface, the control input of KUBIR1 is performed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.507-510
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• 2002

We developed a human-sized BWR(biped walking robot) named KUBIRI driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIRI was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize informations on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interfacer was developed based on the open inventor tool. Through the graphic interfacer, the control input of KUBIRI is performed.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 춘계학술대회
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• pp.463-466
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• 2017

본 논문의 내용은 기존의 차륜식 로봇과는 차별화된 전-방향 구동이 가능한 모듈 개발을 통하여, 기존 모듈의 이동로봇이 가지는 단점인 측면주행성능 저하, 단순 작업주행 경로, 회전-직진 반복 주행으로 인한 불필요한 주행소요시간의 증대 등의 단점을 극복할 수 있을 것이다. 볼-벨런싱 로봇을 구동하기 위한 전-방향 구형휠 구동모듈은 3개의 로터캐스터를 이용한 로봇의 전-방향으로 구동하기 위한 동력전달 메커니즘과 주행을 위한 알고리즘 개발이 요구된다. 3DoF(축) 전-방향 이동 알고리즘이 내장된 드라이버가 모듈에 내장되고, 주행 방향 및 속도를 위한 3DoF(축)의 구동 모터 모듈이 장착된다. 이동 메커니즘으로는 각 구동바퀴의 회전 벡터 합에 따른다. 두 개 또는 세 개의 구동바퀴의 회전과 벡터 합에 따른 다양한 이동방향을 만들어 낼 수 있다. 각 구동바퀴의 회전 벡터장의 여하에 따라 다른 방향으로도 이동이 가능하다. 전-방향 이동을 위한 보다 혁신적인 전-방향 구형휠 구동모듈이 개발되면, 이동로봇의 구동부에 사용되어 로봇의 성능을 기술적으로 좀 더 향상시킬 수 있으며, 구동모듈이 적용된 전-방향로봇 플랫폼을 통하여 기존 차륜식 로봇의 경우 각종 환경에 대한 저항성으로 인해 연속 직진 성능이 저하되는 단점을 극복할 수 있어서 미주, 유럽과 같은 환경에서 적용될 수 있는 청소로봇, 이동로봇뿐만 아니라 전-방향 주행 기능이 요구되는 안내로봇, 탑승형 로봇, 이동수단 등에 필수적인 기술이 될 것이고 지능형서비스로봇 시장과 미래형 자동차시장의 확대에 기여할 수 있을 것이다.