• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.23-29
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• 2020

Since the movements of a machine are driven by a certain principle, there is a fundamental principle that governs the movement of the machine, no matter how complex and diverse it may be. Autonomous movements are a way to avoid repetition, to approach more humane and more natural factors. That's all the more so when it comes to original movements, not cloning. So now, the dynamics of the machine are more multi-sensory by human participation. It is challenging the potential to be expressed and is gradually expanding its sphere of expression in the boundaries of fact and cloning. Theo Jansen's works have changed from period to period to adapt to different circumstances, indicating that his decades-long work has continued to evolve from early to present. The evolution's focus, among other things, can be seen as having the same source of circular motion and horizontal reciprocating motion, which are repeated from the principle of organic coupling between the parts that make up the object.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.592-594
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• 2017

한국연구재단의 지원을 받는 EDISON CHANLLENGE를 수행하기 위해 작성되었다. 본 논문은 얀센 메커니즘과 아두이노, 적외선 센서를 이용하여 라인 트래이싱을 하기 위해, 최적의 얀센 메커니즘을 설계한다. MATLAB을 이용하여 시뮬레이션을 진행하였다. Ground Score, Average Velocity, Drag Score, 그리고 Standard Deviation of Velocity를 이용하여 최적의 얀센 메커니즘을 설계하였다.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.608-614
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• 2017

얀센메커니즘을 활용한 보행로봇의 단점인 저속을 개선 하기위한 연구이다. 그 예시로 라인트레이싱 속도를 높이기 위한 다리의 최적설계를 수행하였다. 이를 위해 EDISON에서 제공하는 프로그램을 사용하여 Ground angle coefficient와 Ground length를 더한 목적함수를 최대값으로 설계하였고 보행능력이 증가하였다.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.417-423
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• 2016

Develop a leg walking robot mechanisms with Janssen. Development item increases as the moving speed through the weight to set the leg to walk stably. The material is used the metal material was later used to produce a plastic using a 3D printer developed a walking robot with stable and lightweight material.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.485-488
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• 2016

In this paper, the mechanism that works by using eight legs is proposed. The walker has eleven bars instead of wheel, it shows a Biologically-inspired movement method. their driving appearance is very similar with creature which walks by its legs. For example, a crab and spider so on. This mechanism has simple style that can expand its size and attach more legs beside. For the competition regulation, we had to find working parts in the science box and some other things that can be found easily in the surroundings only usual material. The mission is making a machine that is enable to pass obstacle and to walk well. This paper followed the rules by regulation.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.580-584
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• 2017

본 논문에서는 얀센 메커니즘을 이용한 4족 보행 로봇의 설계와 라인 추적을 통해 목표지점까지 도달할 수 있도록 하는 센싱에 대해 보인다. 가장 핵심이라고 판단되는 구동부의 최적 설계를 위해 m.Sketch를 이용하여 GAC와 GL를 설정하였고, 최적 설계 후 다리 경량화를 통한 로봇 속도 개선 등의 문제는 차후에 다루기로 한다. 본 논문에서 언급되는 모든 구동부는 이론적 계산을 기초로 하여 CATIA 프로그램을 사용하여 제작되었으며, 과학상자를 이용한 여러 번의 구조변경 실험을 통해 최적의 설계를 찾는 것을 목표로 한다.