• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.9
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• pp.1145-1151
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• 2010

In this paper, we discuss the design and simulation of a jumping-robot mechanism that is actuated by SMA (shape memory alloy) wires. We propose a jumping-robot mechanism; the structure of the robot is inspired by the musculoskeletal system of vertebrates, including humans. Each robot leg consists of three parts (a thigh, shank, and foot) and three kinds of muscles (gluteus maximus, rectus femoris, and gastrocnemius). The jumping capability of the robot model was tested by means of computer simulations, and it was found that the robot can jump to about four times its own height. This robot model was also compared with another model with a simpler structure, and the performance of the former, which was based on the biomimetic design, was 3.3 times better than that of the latter in terms of the jumping height. The simulation results also verified that SMA wires can be suitable actuators for small jumping robots.

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

• 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 Korean Information Science Society Conference
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• 2012.06a
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• pp.274-275
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• 2012

생체모방로봇은 인간을 비롯하여 새, 곤충, 물고기 등 동물들의 기본구조, 행동원리 및 메커니즘을 모방한 로봇이다. 정찰, 수색, 테러진압 등 군사작전에서부터 인명구조까지 생체모방로봇은 인간의 눈과 발을 대신하여 인간이 접근할 수 없는 오염 지역을 면밀히 탐지하는 데에도 유용하리라 예상된다. 이와 같은 생체모방로봇이나 MAV 등을 실시간으로 원격에서 모니터링하고 제어할 수 있는 DAQ 시스템의 중요성이 커지고 있다. 본 논문에서는 생체모방로봇인 가오리를 원격 관제 센터에서 RF무선통신을 이용하여 안정적인 제어 및 모니터링이 가능한 DAQ(Data AcQuisition) 시스템을 제안한다.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.