• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.219-220
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.439-440
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• 2011

• Journal of the Korean Society for Precision Engineering
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• v.14 no.1
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• pp.158-167
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• 1997

For the use of a mobile robot in dynamic environment, a collision-avoidance algorithm with moving obsta- cle is necessary. In this paper, a collsion-avoidance algorithm of a mobile robot is presented, when a mobile robot detects the collision with moving obstacle on the navigational path. Using reported positions of moving obstacle with sensors, the mobile robot predicts the next position of moving obstacle with possibility of collision. The velocity of moving obstacle is modeled as random walk process with Gaussian distribution. The optimal collision-avoidance path in which turning motion of the mobile robot is considered is generated with relative velocity between the mobile robot and moving obstacle. For the safety of collision-avoidance path, attractive potential with the safety factor is suggested. The simulation results using this algorithm show the mobile robot avoids collision with moving obstacle in many cases.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.4
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• pp.723-730
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• 2015

In this paper, a location tracking compensation algorithm based on the Least-Squares Method ($LCA_{LSM}$) was proposed to improve the autonomous tracking efficiency for the docent robot in exhibition hall, and the performance of the $LCA_{LSM}$ is analyzed by several practical experiments. The proposed $LCA_{LSM}$ compensates the collected location coordinates for the robot using the Least-Squares Method (LSM) in order to reduce the cumulated errors that occur in the Encoder/Giro sensor (E/G) and to enhance the measured tracking accuracy rates in the autonomous tracking of the robot in exhibition hall. By experiments, it was confirmed that the average error reduction rates of the $LCA_{LSM}$ are higher as 4.85% than that of the $LCA_{KF}$ in Scenario 1 (S1) and Scenario 2 (S2), respectively on the location tracking. In addition, it was also confirmed that the standard deviation in the measured errors of the $LCA_{LSM}$ are much more low and constant compared to that of the E/G sensor and the $LCA_{KF}$ in S1 and S2 respectively. Finally, we see that the suggested $LCA_{LSM}$ can execute more the stabilized location tracking than the E/G sensors and the $LCA_{KF}$ on the straight lines of S1 and S2 for the docent robot.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2039-2044
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• 2003

The advanced infrastructure for accelerating the development of personal robots is presented. Based on this structure, effective ways for integrating the various commercial components and interfacing among them are studied. The infrastructure includes the technology such as modularization based on independent processing and standardization open to other developers. The infrastructure supports not only that each hardware component of a personal robot can be easily attached to and detached from the whole system mechanically but also that each software of the components can be functionally distributed. As a result, we developed the fully modularized personal robots mechanically, and a virtual machine for the control of these robots. In this paper the proposed infrastructure and its implementations are described.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.5
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• pp.277-283
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• 2014

In this paper, we propose a control system for synchronizing attitude between an Android smartphone and a mobile robot. The control system is comprised of a smartphone and a mobile robot. The smartphone transports its attitude to the mobile robot and receives the attitude of mobile robot through bluetooth communication. Further, the smartphone displays the mobile robot on the screen by using embedded camera, which can be used as a pseudo augmented reality. Comparing the received attitude data from smartphone, the mobile robot measures its attitude by an AHRS(attitude heading reference system) and controls its attitude. Experiments show that the synchronization performance of the proposed system is maintained in the error range of $1^{\circ}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.241-242
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.39-40
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• 2010

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.420-426
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• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.