• Journal of Magnetics
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• v.22 no.1
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• pp.162-167
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• 2017

Magnetic spiral-type microrobots, which are driven by a rotating magnetic field, have excellent locomotive abilities, whereas their medical applications are limited in the terms of function, such as the ability to drill in blood vessels. In this study, we propose a new robot with superior applications using a magnetic spiral-type machine. The proposed robot can be applied to stent transportation and installation without a catheter. In particular, the robot can be applied to the cardiovascular system, cerebrovascular disease, and nonvascular stent applications depending on the robot size. The robot consists of two independent spiral-type machines and four magnets in total. We controlled directions of thrust force of the two machines, respectively, for active locomotion with a task. We conducted a preliminary validation of the proposed robot for stent transportation and installation through experimental analyses.

• Proceedings of the IEEK Conference
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• 2000.06d
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• pp.151-154
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• 2000

Standard of implementing a robot is Man, so in many field, Many studies are processing to archive a robot, very similar to human being. This paper, based on the theory of man, implemented on the model of parallelism sense and visual information, which is needed when it's moving. Introduced robot uses CCD and designed Image Processing Board for the purpose of archiving vision data. To keep parallel condition, This use ultrasonic sensors for auto-mobile.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.43-48
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• 2009

Generally, underwater vehicle type of propeller shows low efficiency about 50%-55%. However, the efficiency of swimming mechanism of a fish is 60%-70%, more efficient about 20% than screw propellers. Recently, research of underwater vehicle type of fish increase due to its good efficiency and is regarded as a typical bio-mimical robot. In this research, a new algorithm and mechanism that show low energy consumption imitating swimming mechanism of fish proposed increasing speed and running time in field trial.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.562-565
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• 2000

For solving problems of manpower and improving working environment, Robot System have been introduced. In the past, Robot System was adopted mass production, indoor factory condition, but present Robot System is applied to many other fields. This applied field is Robot System was adopted fruit harvest, maintenance, and so on. The developed Multi-Linked Lifter is applied to eminant multi-purpose working. The purpose of this study is to develop control algorithm for this equipment composed of multi-linked manipulator.

• International Journal of Contents
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• v.3 no.4
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• pp.36-40
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• 2007

Robot has been developed as something to help human beings, and robot will be very important field as an entertainment. This paper intends to contribute to developing golf robot as an entertainment using AVR ATmega Chips. It is believed that the entertaining robot giving a pleasure to human beings has good prospects for the rapid growth along with other robot industry. Golf robot developed in this paper has been developed for entertainment and has a similar sense in comparison with the real golf. This golf robot is represented in the way of putting the ball in the hall by hitting the ball just like the actual golf game and putting through making robot come close to the ball with the putting robot. This golf robot can playa game with several people like the actual golf if many putting robots can be used. It is, therefore, considered that the development of golf robots for entertainment using AVR has a high value of the golf robot as an entertainer on the ground that it can playa real golf.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.622-627
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• 2003

The existing remote control system have some inherent disadvantage of direct control in the limit range. In some special cases, for example, a power apparatus, an unmanned factory, a nuclear factory, a security management system, the tele-operation is needed to control remote robot without limit space. This field is based on the Internet communication. Because the Internet is constructed all over the world. And it is possible that we control remote mobile robot in the long distance. In this paper, we developed a remote control system. This system is divided into two primary parts. These are local site and remote site. There are the moving robot and web server in the remote site and there is the robot control device in local site. The moving robot is moved by two stepper motors and the robot control device consists of SA-1100 micro controller and embedded Linux. And this controller is an embedded system. Public personal computer which is connected the Internet is used for the web server. The web server provides the mobile robot control interface program to the remote controller and captures the image for feedback information. In the whole system, a robot control device is connected with moving robot and web server through the Internet. So the operator can control the moving robot in the distance through the Internet.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.237-244
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• 2008

Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2725-2728
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• 2003

The manipulability of robot provides useful Information for the design and path planning of robots. This paper shows an influence of joint velocities to acceleration of robot end-effector using a dynamic manipulability polytope. The main idea of this paper is that the dynamic manipulability polytope of robot can be divided to three intermediate polytope, the torque-dependant polytope, velocity-dependent polytope, and gravity-dependant polytope. The velocity-dependant polytope is made from the limits of robot joint velocities while the torque-dependant polytope is made from the limits of the joint torques. Combining of these two intermediate polytopes and considering the gravity-dependant polytope, the overall dynamic manipulability polytope of robot is obtained. This investigation will be useful on the field of space robot and high-speed application.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.523-525
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• 2004

Over the last few years, the control of bipedal robot has been considered a promising research field in the community of robotics. But the problems we encounter make the control of a bipedal robot a hard task. The complicated link connection of the bipedal robot makes it impossible to achieve its exact model. In addition, the joint velocity is needed to accomplish good control performance. In this paper a control method using ANFIS as an system approximator is purposed. First a model biped robot of a biped robot with switching leg influence is presented. Unlike classical method, ANFIS approximation error estimator is inserted in the system for tuning the ANFIS. In the entire system, only ANFIS is used to approximate the uncertain system. ANFIS tuning rule is given combining the observation error, control error and ANFIS approximation error. But this needs velocity information which is not available. So a practical method is newly presented. Finally, computer simulation results is presented to show this control method has good position tracking performance and robustness without need for leg switching acknowledgement.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.499-501
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• 2004

This paper deals with the implementation of a quadruped working robot using wireless sensor network with TinyOS. It is often required to install real time OS and wireless network in the mobile robot field since robots work alone without human intervention and also exchanging their information between robot systems. The suggested controller utilizes a built-in wireless network OS and makes the variance action related with human-kindly motions for a quadruped walking robot. In addition, a kinematics analysis of its structure and control architecture of robot system is suggested and verified the usefulness through the real experiment.