• 제어로봇시스템학회논문지
• /
• 제9권6호
• /
• pp.456-465
• /
• 2003

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

• Tribology and Lubricants
• /
• 제26권2호
• /
• pp.129-135
• /
• 2010

Geckos have a unique ability to cling to ceilings and walls utilizing dry adhesion. Their foot pads are covered by a large number of small hairs (setae) that contain many branches per seta with a lower level of spatulae. Their fibrillar structure is the primary source of high adhesion. In this study, we construct the adhesion design database for biomimetic adhesive system. A simple idealized fibrillar structure consisting of single array of beams is modeled. The fibers are assumed as oriented cylindrical cantilever beams with spherical tip. We consider three necessary conditions; buckling, fracture and sticking of fiber structure, which constrain the allowed geometry. The adhesion analysis is performed for the attachment system in contact with rough surfaces with different s values for different main design variables-fiber radius, aspect ratio and material elastic modulus and so on. The developed adhesion design databases are useful for understanding biological systems and for guiding of fabrication of the biomimetic attachment system.

• 한국의류학회지
• /
• 제46권5호
• /
• pp.927-943
• /
• 2022

This study explores the organic form generation method, which reflects the evolving biomimetic approaches converging in fashion technology and considers the characteristics of the organic relationship between the body and the clothing to be represented in contemporary fashion. A literature review on biomimetic architecture and design-related theory and a case study on biomimetic fashion were both conducted. Images, articles, and data related to biomimicry fashion and clothing, including the increase in virtual fashion cases around 2020, were analyzed based on the literature review. Biomimicry was used to derive interdisciplinary similarities in the organic morphogenesis principle, and the result was categorized as a network system, folds and unfolds, pneumatic structures, auxetic growth, and membranes. The biomimetic fashion characteristics, including externalization of the body's interior, expansion of the body structure and silhouette, body protection, independence from the body, and post-human expression through virtualization, were analyzed. Morphogenetic processes performed through biomimetic vision are expected to aid in generating research on the possibility of mass production or popularization in the future through various experimental technical studies.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2012년도 춘계학술대회 논문집
• /
• pp.1141-1142
• /
• 2012

• 제어로봇시스템학회논문지
• /
• 제16권11호
• /
• pp.1082-1088
• /
• 2010

In this paper, we propose a new gel-type biomimetic variable-focus lens system. The miniaturization of conventional lens system is limited due to the use of a set of glass lenses for adjusting the focal length. Biologically inspired by the focus adjustment mechanism of the human eye, a gel-type single lens system with variable-focus is presented. The proposed system consists of a gel-type lens, mechanical parts such as body, rotation ring, and winding-type SMA actuator. In addition, the proposed system is designed to operate with a simple and miniaturized mechanical structure using a new attachment and driving mechanism. The focusing performance of the proposed system is verified through a series of experiments and measurements of the shape of the lens using tomography.

• 한국정밀공학회지
• /
• 제33권7호
• /
• pp.571-577
• /
• 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.

• Bulletin of the Korean Chemical Society
• /
• 제15권6호
• /
• pp.424-427
• /
• 1994

Effects of iron compounds in known biomimetic oxidation systems (Gif IV and GoAgg II) have been studied on activity and ketone/alcohol selectivity of cyclohexane oxidation. Both ketone/alcohol ratio and cyclohexane conversion were affected by counter-ion Z of iron compounds Z-Fe. When Z has a more electron withdrawing property, the reactivity is increased and the formation of ketone is favored. From these experimental results, a new mechanism is proposed for the biomimetic oxidation system.

• 한국생산제조학회지
• /
• 제18권5호
• /
• pp.521-528
• /
• 2009

In these days, biomimetic apprioach in the design and control of robotic system has drawn much attention. The human-being and mammals possess their own feet. Using the mobility of their feet, they are able to walk in various environments such as plain land, desert, swamp, and so on. Previously developed biped robots and four-legged robots did not employ such adaptable foot. In this work, a biomimetic foot mechanism is investigated through analysis of the foot structure of the human-being. This foot mechanism consists of a toe, an ankle, a heel, and some springs replacing the foot muscles and tendons. Using five toes and springs, this foot can adapt to various environments. A mathematical modeling for this foot mechanism was performed and its characteristics were observed through numerical simulation.

• 제어로봇시스템학회논문지
• /
• 제12권6호
• /
• pp.573-579
• /
• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• 제어로봇시스템학회논문지
• /
• 제18권3호
• /
• pp.175-180
• /
• 2012

A nonlinear navigation filter for biomimetic robot using analytic approximation of mean and covariance of state variable is proposed. The approximations are performed at the time update step in the filter structure. The mean is approximated to the 3rd order of Taylor's series expansion of true mean and the covariance is approximated to the 3rd order either. The famous EKF is a nonlinear filtering method approximating the mean to 1st order and the covariance to the 3rd order. The UKF approximate them to the higher orders by numerical method. The proposed method derived a analytical approximation of them for navigation system and therefore don't need so called sigma point transformation in UKF. The simulation results show that the proposed method can be a good alternative of UKF in the systems which require less computational burden.