• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.119-120
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.55-56
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• 2006

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.163-172
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• 2007

A swarm-bot docking with two independent robots aiming at overcoming obstacles or climbing up/down stairs is introduced how it can be manufactured and controlled. Utilizing the fast mobility of the vehicle robot and cooperating between robots expands the applications of the robot. An algorithm for identifying the partner robot and its generic mechanism enabling the docking of two robots are addressed. The designed swarm-bot has advantages in terms of overcoming obstacle or stair climbing which is not easily implemented by a single robot, increasing the adaptability to the environment.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.143-149
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• 2002

Robot are necessary to automate the work on a vertical plane of work piece to produce a large structure like a ship, so that a permanent magnet wheel has been attempted to be used for a mobile robot. Its adhesive power was enhanced by restricting the occurrence direction of magnetic flow. Furthermore a method which weakened the adhesive force was developed for easy detachement of the wheel by changing magnetic flow with metal pin. To measure the characteristics of the adhesive and detaching farces, a load call and a gaussmeter were used. The result showed that the adhesive power was reduced to 1/3 of normal state by using 4 inducing pins.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.103-111
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• 2009

Multi-climbing hydraulic robots are used to lift construction factory (CF) synchronously for applications in the automation of a high-rise building construction. In this study, synchronous motion controller is proposed for the hydraulic robots, whose strategy is not only to make each robot follow the reference path basically by sliding-mode control, but also to synchronize motions of two adjacent cent robots consecutively by cross-coupled control technique. Simulations are performed by using SIMULINK for a system similar to a practical application that includes unbalance in CF and wind disturbance. The results show that the proposed controller significantly reduces synchronous errors, compared to the individual controller for each hydraulic robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.211-212
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1219-1220
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.169-170
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.239-240
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• 2010