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

• Journal of the Korean Society for Precision Engineering
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• v.33 no.7
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• pp.571-577
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• 2016

In this paper, we propose a novel propulsion method for a Biomimetic underwater robot, which is a bio-inspired approach. The proposed propulsion method mimics the pectoral fins of a real fish. Pectoral fins of real fish are able to propel and change direction. We designed the propulsion mechanism of 1 D.O.F. that has two functions (propel and change direction). We named this propulsion system 'Flipper'. The proposed propulsion method can control forward, pitch and yaw motion using the Flipper. We made an experimental underwater robot system and verified the proposed propulsion method. We measured its maximum speed and turning motion using an experimental underwater robot system. We also analyzed the thrust force from the maximum speed, using the thrust equation. Experimental results showed that our propulsion method enabled the thrust system of the biomimetic robot.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.481-485
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• 2014

In service robots, a number of human movements are analyzed using a variety of sensors. Vibration signals from walking movements of a human provide useful information about the distance and the movement direction of the human. In this paper, we measure the intensity of vibrations and detect both human walking pace and direction. In our experiments, vibration signals detected by microphone sensors provide good estimation of the distance and direction of a human movement. This can be applied to HRI (Human-Robot Interaction) technology.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.176-181
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• 2007

This paper presents evolvable neural networks based on a developmental model for navigation control of autonomous mobile robots in dynamic operating environments. Bio-inspired mechanisms have been applied to autonomous design of artificial neural networks for solving practical problems. The proposed neural network architecture is grown from an initial developmental model by a set of production rules of the L-system that are represented by the DNA coding. The L-system is based on parallel rewriting mechanism motivated by the growth models of plants. DNA coding gives an effective method of expressing general production rules. Experiments show that the evolvable neural network designed by the production rules of the L-system develops into a controller for mobile robot navigation to avoid collisions with the obstacles.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.410-413
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• 2012

A traditional fabrication method is very difficult to make small robots using embedded sensors, actuators and connectors. Fortunately, Shape Deposition Manufacturing can provide an alternative method, and it has many benefits. Firstly, the weight of robot can be lighter, as it can be consisted of composite materials. Secondly, SDM can make simple robot structures because this approach does not need to use connectors and fasteners. Lastly, SDM gives stiffness and flexibility at the specific parts. Therefore, in this paper, we present a design of 3 segment legs organized by SDM, what the SDM approach is, and compare SDM method with 3 segment prototype legs which uses a traditional approach and made by DGIST.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1558-1562
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• 2008

Ionic polymer metal composite (IPMC), one of Electro- Active Polymer (EAP) actuators, has great attention due to the low-voltage driven, large deformation and its potential for artificial muscles. In this paper, we firstly review fish swimming modes using various propulsion mechanisms. Based on study on the swimming mechanisms, we develop an underwater robot actuator which mimics fanning motion of webfoot form. It consists of four actuators fabricated by using IPMC and PDMS which mimics Bio-inspired motion Experiments using a prototype show that the webfooted IPMC actuator generates large deformation and propulsion.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.47-53
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• 2018

Various types of robotic arms are being used for industrial purposes, particularly with the small production of multi-products, and the importance of the gripper, which can be used in industrial fields, is increasing. This study evaluated a variable stiffness mechanism gripper that can change the stiffness using the nonlinearity of a flexible material. A prototype of the gripper was fabricated and examined to confirm the change in stiffness. The previous gripper was unable to grip objects in some situations with three variable stiffness mechanism. In addition, these mechanisms were not balanced and rarely rotated when the object was gripped. Therefore, a new type of gripper was needed to solve this problem. Inspired by the movements of the human palm and Venus Flytrap, a new type of a variable stiffness soft robot hand was designed. The possibility of grasping could be increased by interlocking the palm folding mechanism by pulling the tendon attached to the variable stiffness mechanism. The soft robotic hand was used to grasp objects of various shapes and weights more stably than the previous variable stiffness mechanism gripper. This new variable stiffness soft robot hand can be used selectively depending on the application and environment to be used.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.158-163
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• 1998

This paper is our first attempt to construct a information processing system such as the living creatures' brain based on artificial life technique. In this paper, we propose a method of constructing neural networks using bio-inspired emergent and evolutionary concept, Ontogeny of living things is realized by cellular automata model and Phylogeny that is living things adaptation ability themselves to given environment, are realized by evolutionary algorithms. Proposing evolving cellular automata neural systems are calledin a word ECANS. A basic component of ECANS is 'cell' which is modeled on chaotic neuron with complex characteristics, In our system, the states of cell are classified into eight by method of connection neighborhood cells. When a problem is given, ECANS adapt itself to the problem by evolutionary method. For fixed cells transition rule, the structure of neural network is adapted by change of initial cell' arrangement. This initial cell is to become a network b developmental process. The effectiveness and the capability of proposed scheme are verified by applying it to pattern classification and robot control problem.

• Journal of the Korea Society of Computer and Information
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• v.24 no.12
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• pp.25-33
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• 2019

This paper presents a novel evolutionary framework for optimizing a bio-inspired fully dynamic neurocontroller for the maneuverable flapping flight of a simulated bird-sized ornithopter robot which takes advantage of the morphological computation and mechansensory feedback to improve flight stability. In order to cope with the difficulty of generating robust flapping flight and its maneuver, the wing of robot is modelled as a series of sub-plates joined by passive torsional springs, which implements the simplified version of feathers attached to the forearm skeleton. The neural controller is designed to have a bilaterally symmetric structure which consists of two fully connected neural network modules receiving mirrored sensory inputs from a series of flight navigation sensors as well as feather mechanosensors to let them participate in pattern generation. The synergy of wing compliance and its sensory reflexes gives a possibility that the robot can feel and exploit aerodynamic forces on its wings to potentially contribute to the agility and stability during flight. The evolved robot exhibited target-following flight maneuver using asymmetric wing movements as well as its tail, showing robustness to external aerodynamic disturbances.