• Proceedings of the Korean Ceranic Society Conference
• /
• 2002.10a
• /
• pp.12-12
• /
• 2002

• Polymer Science and Technology
• /
• v.25 no.5
• /
• pp.411-416
• /
• 2014

• The Journal of Korea Robotics Society
• /
• v.14 no.4
• /
• pp.245-250
• /
• 2019

Milli-scale crawling robots have been widely studied due to their maneuverability in confined spaces. For successful crawling, the crawling robots basically required to fulfill alternating gait with elliptical foot trajectory. The alternating gait with elliptical foot trajectory normally generates both forward and upward motion. The upward motion makes the aerial phase and during the aerial phase, the forward motion enables the crawling robots to proceed. This simultaneous forward and upward motion finally results in fast crawling speed. In this paper, we propose a novel alternating mechanism to make a crab-inspired eight-legged crawling robot. The key design strategy is an alternating mechanism based on double four-bar linkages. Crab-like robots normally employs gear-chain drive to make the opposite phase between neighboring legs. To use the gear-chain drive to this milli-scale robot system, however, is not easy because of heavy weight and mechanism complexity. To solve the issue, the double-four bar linkages has been invented to generate the oaring motion for transmitting the equal motion in the opposite phase. Thanks to the proposed mechanism, the robot crawls just like the real crab with the crawling speed of 0.57 m/s.

• The Journal of Korea Robotics Society
• /
• v.19 no.1
• /
• pp.1-7
• /
• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2009.04a
• /
• pp.294-297
• /
• 2009

다방면적인 과학기술의 발달은 우리에게 대량의 데이터와 또한 새로운 영역으로의 접근 가능성을 열어주었다. 유전자 정보와 같은 대량의 정보를 다루는 시대가 열리면서 바이오 데이터를 분석하여 새로운 연관성과 정보를 찾아내는 바이오인포매틱스가 고부가가치 창출을 위한 학문으로 특히 부각되고 있다. 본 논문에서는 이러한 연구의 일환으로 보다 효율적인 바이오 데이터 분석을 위해 BNP에 내장된 생태계 모방 알고리즘의 특성을 연구하고, 이를 분류화에 접목시킨 방법에 대해 논하고자 한다.

• The Journal of Korea Robotics Society
• /
• v.14 no.4
• /
• pp.270-277
• /
• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

• The Journal of Korea Robotics Society
• /
• v.14 no.4
• /
• pp.278-284
• /
• 2019

Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.

• Smart Structures and Systems
• /
• v.8 no.1
• /
• pp.139-155
• /
• 2011

Polymeric thin-film assemblies whose bulk electrical conductivity and mechanical performance have been enhanced by single-walled carbon nanotubes are proposed for measuring strain and corrosion activity in metallic structural systems. Similar to the dermatological system found in animals, the proposed self-sensing thin-film assembly supports spatial strain and pH sensing via localized changes in electrical conductivity. Specifically, electrical impedance tomography (EIT) is used to create detailed mappings of film conductivity over its complete surface area using electrical measurements taken at the film boundary. While EIT is a powerful means of mapping the sensing skin's spatial response, it requires a data acquisition system capable of taking electrical impedance measurements on a large number of electrodes. A low-cost wireless impedance analyzer is proposed to fully automate EIT data acquisition. The key attribute of the device is a flexible sinusoidal waveform generator capable of generating regulated current signals with frequencies from near-DC to 20 MHz. Furthermore, a multiplexed sensing interface offers 32 addressable channels from which voltage measurements can be made. A wireless interface is included to eliminate the cumbersome wiring often required for data acquisition in a structure. The functionality of the wireless impedance analyzer is illustrated on an experimental setup with the system used for automated acquisition of electrical impedance measurements taken on the boundary of a bio-inspired sensing skin recently proposed for structural health monitoring.

• Journal of Sensor Science and Technology
• /
• v.25 no.3
• /
• pp.223-228
• /
• 2016

In this work, we prepared porous WO3 nanofibers (NFs) functionalized by bio-inspired catalytic $Cr_2O_3$ and $Co_3O_4$ nanoparticles as highly sensitive and selective $H_2S$ gas sensing layers. Highly porous 3-dimensional (3D) NFs networks decorated by well-dispersed catalyst NPs exhibited superior $H_2S$ gas response ($R_{air}/R_{gas}$ = 46 at 5 ppm) in high humidity environment (95 %RH). In particular, the sensors showed outstanding $H_2S$ selectivity against other interfering analytes (such as acetone, toluene, CO, $H_2$, ethanol). Exhaled breath sensors using $Cr_2O_3$ and $Co_3O_4$ catalysts-loaded $WO_3$ NFs are highly promising for the accurate detection of halitosis.

• Journal of Aerospace System Engineering
• /
• v.12 no.5
• /
• pp.16-23
• /
• 2018

In the paper, a robot control technique by employing Biomimetics is described. Rhythmic movements of the diving beetle's leg were analyzed and the formulated equations on the motion were drawn by applying Fourier least mean square fitting method. Simple control parameters were defined by comparing the observed locomotion through a motion capture system and reproduced motions according to changes in the values in the equation. Subsequently, the correlation of each parameter was discovered and expressed in a parameter space. Apparently, it was confirmed that various bio-mimicking motions can simply be generated for controlling the robot. Additionally, robot designing based on adopting structural advantages which the living organism possess have been briefly introduced. The proposed bio-mimicking motion generating technique was observed to be applicable to robot system developments under various environmental conditions.