• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.466-472
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• 2013

In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.195-196
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.557-558
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• 2009

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.375-382
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• 2013

Down through the years, human needs and desires have required a robot system to work at hazardous environments instead. Current painting task is costly and laborious, and it exposes workers to significant health and safety risks. Automation system offers potential improvement in this area and is especially well suited to the outer-wall painting tasks in concrete structures. This paper introduces the result of gondola-type building management robot(G-BMR) platform and mechanism for moving/tasking on building outer-wall for the outer-wall painting. Its technical and economic feasibility are conducted, and it is concluded that developing G-BMR is physically and economically feasible in this research. And we discuss about the future of G-BMR and automation in construction field.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.532-534
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• 2022

At a time when the 5G era is advancing beyond commercialization, places that used to handle simple logistics warehouse tasks are transforming into smart logistics warehouses by combining IT convergence technology and platforms. Smart logistics warehouses can accurately predict demand and inventory of products with AI, deep learning, and robot technologies based on 5G, and provide information on warehousing and warehousing status in real time. As the e-commerce market grows, the smart logistics sector is also growing rapidly. This paper implements a smart logistics warehouse system and studies and proposes a method of establishing a fast and accurate logistics system by utilizing 5G-based Logistics Automation Robot.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.3
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• pp.40-46
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• 2008

This paper presents the optimal motion control for 3-axis SCARA robot by using $LabVIEW^{(R)}$. Specifically, for optimal motion control of 3-axis SCARA robot, we study velocity profile based on finite jerk(the first derivative of acceleration) and optimal gain tunig based on frequency response method by using $LabVIEW^{(R)}$. The velocity optimization with finite jerk aims at generating the smooth velocity profile of robot. Velocity profile based on finite jerk is acquired and applied to 3-axis SCARA robot by using $LabVIEW^{(R)}$. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using $LabVIEW^{(R)}$. We obtain the bode plot of transfer function about 3-axis SCARA robot by using DSA, and perform the gain tuning considering dynamic characteristic based on the bode plot. These experiments have shown that the proposed motion control can reduce vibration displacement and response error rate each 33.7% and 51.7% of 3-axis SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.43-43
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• 2000

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 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 to 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 lot balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on even surface.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.429-434
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• 2017

In a graph G=(V, E) with n vertices, there is an unique box which is finally laid on each vertex. Thus each vertex and box is both numbered from 1 to n and the box i should be laid on the vertex i. But, the box ${\pi}$(i) is initially located on the vertex i according to a permutation ${\pi}$. In each step, the robot can walk along an edge of G and can carry at most one box at a time. Also when arriving at a vertex, the robot can swap the box placed there with the box it is carrying. The problem is to minimize the total step so that every vertex has its own box, that is, the shuffled boxes are sorted. In this paper, we shall find an upper bound of the minimum number of steps and show that the movement of the robot is found in $O(n^2)$ time when G is a cycle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.79-80
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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.153-154
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• 2009