• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.463-466
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• 2002

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this paper, to field-robotize a hydraulic excavator, we have proposed a robust and systematic controller design method. Disturbance observer is used as inner controller to reshape the excavating system into the linear dynamics of nominal model by compensating coupled nonlinear terms, model uncertainties and external load variations. Using the linear model that is obtained through off-line system identification, a H control scheme is applied to construct a disturbance observer and a servo-controller systematically.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.186-190
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• 2019

When problems occurred in the unstable and/or extreme terrain environment, formal field-driving robots were unable to provide any other options such as the transformation of the wheel and body structure, and so on. For such reason, this paper proposed a novel type of integrated wheel mechanism that can be operated as a conventional driving wheel mode and hybrid wheel-leg mode in order to be negotiated in an unstable terrain environment. The mechanical effect of the proposed variable wheel mechanism was analyzed considering the geometric constraint and power requirement of the actuator for the transformation. In addition, we designed and manufactured the prototype of field-driving robot, which reliably control the variable wheel shape. Finally, the effectiveness of the variable wheel mechanism was verified by preliminary experimental approach.

• Fire Science and Engineering
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• v.24 no.3
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• pp.113-118
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• 2010

FSR has been placed and operated in the Daegu Fire & Safety Department on a trial basis since September 2009. This research proposes a direction for developing the robot, which will provide greater field adaptability and efficiency through analyzing in-depth interviews and surveys of firefighters who have operated the robot. Analysis has shown that an Assistant FSR is expected to enhance maneuverability and improve the performance of wheels, which will increase the capacity for navigating obstacles. The Field FSR needs improvements in convenience of control, making the weight lighter, and stabilization of radio communications to eliminate tangled wires. Overall satisfaction regarding the performance of robots currently in operation is low, while preference toward using the Assistant robot in the field is also low, shown at 8.4%. Therefore, it is urgently necessary to vitalize usage of FSR in the field so that early commercialization of the FSR will contribute to reinforce both growth and competitiveness of the domestic robotics industry.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.1
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• pp.43-50
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• 2014

This paper introduces a robot platform which can do weeding while traveling between rice seedlings stably against irregular land surface of a paddy field. Also, an autonomous navigation technique that can track on stable state without any damage of the seedlings in the working area is proposed. Detection of the rice seedlings and avoidance knocking down by the robot platform is achieved by the sensor fusion of a laser range finder (LRF) and an inertial measurement unit (IMU). These sensors are also used to control navigating direction of the robot to keep going along the column of rice seedling consistently. Deviation of the robot direction from the rice column that is sensed by the LRF is fed back to a proportional and derivative controller to obtain stable adjustment of navigating direction and get proper returning speed of the robot to the rice column.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.141-147
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• 2008

In this paper, we present one approach to achieve safe navigation in indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms have a fundamental limitation that the robot can avoid only "visible" obstacles. In real environment, it is not possible to detect all the dynamic obstacles around the robot. There exist a lot of "occluded" regions due to the limitation of field of view. In order to avoid possible collisions, it is desirable to consider visibility information. Then, a robot can reduce the speed or modify a path. This paper proposes a safe navigation scheme to reduce the risk of collision due to unexpected dynamic obstacles. The robot's motion is controlled according to a hybrid control scheme. The possibility of collision is dually reflected to a path planning and a speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The presented result shows that the robot moves along the safe path to obtain sufficient field of view, while appropriate speed control is carried out.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.535-542
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• 2012

Recently, the study on small-sized reconnaissance robot has been progressed through grafting robot technology to military fields for minimizing the casualties. Especially, throwable robots have been focusing for their's efficiency in anti-terror operation. However, it is impossible to launch throwable robot to long range(approximately 100m) by hand. So we need another type of robots, so called launchable robots, which can launch farther and is more accurate by launcher. In this paper, we presented the process of developments of launchable robots('launchbot') which are available for remote launch from collection of user's opinions to field test. Based on the opinions of users, we established the goal of development, designed and manufactured the robots. Through the field test, we found that our launchable robot satisfied the performance requirements.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.612-616
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• 1997

In this paper, two kinds of controller are proposed for a soccer robot system.. One for Supervisor and defense mode, and the other for attack mode. Robot soccer game has very dynamic characteristics. Furthermore, there exist competitions between agents. The soccer-playing robot should take an appropriate action according to its surroundings. Initially, an attack mode controller using a vector field concept is designed, then a supervisor and a defense mode controller are designed with a Petri-net. The efficiency and applicability of the proposed controllers are demonstrated through a real robot soccer game(MiroSot 97).

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.103-109
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• 2022

The purpose of this study is to ethical review on the development and service with care assistance robot. An integrative review concept analysis method was used. We analyzed the classification and role of service robots, the concept of the robot ethic and the care ethic. And there were derived the development and service about care assistance robot in ethical viewpoint. For improving current care problem, government had support to developing four types care assistance robots. But there were provided carefully care service due to the limitations of robot technology and lack of overall social awareness with care robot. In addition, in order to be successfully application in the field, care assistance robots were developed to provide high-quality care service that can consider to personal culture and living environment with the development of artificial intelligence and robot technology, as well as ethical care service.