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Kim, Sung-Hyun;Jung, Gwang-Pil
- Journal of the Korea Academia-Industrial cooperation Society
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- v.21 no.4
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- pp.356-361
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- 2020
This paper presents a lightweight milli-scale crawling robot that can crawl on both sides, which was inspired by the movement of insects. This robot has an excellent ability to overcome obstacles, such as the narrow gaps and the rough terrain. In addition, the robot can crawl steadily and rapidly through triangular alternation, such as ants or cockroaches. The process of smart composite microstructures (SCM) was employed to make a lightweight robot structure. The SCM process replaced the conventional mechanical parts with flexure joints and composite links, which allows the weight of the robot to be reduced. In addition, the robot structure was robust against external impacts owing to the compliance of the constituent materials. Using the SCM process, the robot weighed only 32g with twelve legs in total on both sides. The robot showed a crawling speed of 0.52m/s on the front side and 0.42m/s on the backside.
https://doi.org/10.5762/KAIS.2020.21.4.356 인용 PDF KSCI

Woo, Him-Chan;Son, Hyeong-Gon;Lee, Seung-Hun;Joo, Moon G.
- IEMEK Journal of Embedded Systems and Applications
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- v.13 no.1
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- pp.33-43
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- 2018
In this paper, we describe an sound tracking mobile robot suitable for areas where GPS is not available. Sound sensors are attached to four sides of the robot in order to locate the person in a danger, and the robot is supposed to move to the yelling person. The traveling distance of the mobile robot is calculated by the encoder attached to the wheel of the mobile robot. The moving direction of the mobile robot is measured by a gyro sensor on the robot. When the person in danger pushes a button of the mobile robot, the mobile robot transmits the trajectory data to a designated server.
https://doi.org/10.14372/IEMEK.2018.13.1.33 인용 PDF KSCI

Park, M.G.;Lee, M.C.
- 제어로봇시스템학회:학술대회논문집
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- 2001.10a
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- pp.44.5-44
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- 2001
This paper proposes the algorithm which a mobile robot tracks the object captured by ultrasonic sensors of the robot and automatically generates a path according to the object In the proposed algorithm, a robot detects movements of the object as using ultrasonic sensors and then the robot follows the moving object. This algorithm simplifies robot path planning. The eight ultrasonic sensors on the robot capture distances between the robot and objects. The robot detects the movements of the object by using the changes of the distances captured by ultrasonic sensors. The target position of the robot is determined as the position of the detected moving object. The robot follows the object according to this movement strategy. The effectiveness of the proposed algorithm is verified through experiments.
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선승원;국태용
- Journal of Institute of Control, Robotics and Systems
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- v.9 no.11
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- pp.906-916
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- 2003
A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.
https://doi.org/10.5302/J.ICROS.2003.9.11.906 인용 PDF KSCI