• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.69-73
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• 1987

In this paper the continuous static stable gait, kinematics and the basic control algorithm of the quadruped walking robot have been discussed. The control method described in this paper will be extended for the walking robot to walk on an uneven terrain.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.704-709
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• 1990

This study presents the structure and the gate control algorithm of KAMOBOT (KAIST Mobile Robot). The mobile robot has a six-legged, cylindrical configuration, each leg of which is equiped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around it's geometric center. Such maneuverability can be achieved by using only three electric motors.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.692-697
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• 2011

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.693-697
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• 1989

In this paper, force control for a multi-legged walking robot is investigated. For stable but relatively rapid walking, a simple force control algorithm is proposed in conjunction with the position control system. The proposed control method is tested on an experimental one leg system of two degree of freedom with a force controller using a position controller and a monoboard microcomputer to implement the proposed control algorithm. The experimental results shows that the control algorithm can be applied for walking in a terrain with wide range variation.

• Journal of Advanced Navigation Technology
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• v.24 no.5
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• pp.444-449
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• 2020

I proposed small ambulatory robot actuators using piezoelectric benders. In order to make the motion of the biomimetic robot legs similar to the movements of the cockroaches or similar insects, two pairs of legs in the diagonal direction in the four leg structures are required to make the same movement. And elliptical displacement is realized by taking into account horizontal and vertical displacement of multimode oscillations and driving them by electrical signals with differences step by step, for example of 90° the T-shaped robot actuator showed wide range of speed (From 2 mm/sec. up to 266 mm/sec.) and ability of transportation (up to 10 g with 50 mm/s). Locomotive performance of the robot was competitive to the preceding robots, and moreover, the modular type actuators of a segmented myriapods robot could be added and removed for different tasks or performances.

• Journal of the KSME
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• v.48 no.9
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• pp.34-38
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• 2008

이 글에서는 일반적인 로봇 시스템의 이동 메커니즘을 형태 및 기능별로 분류하고, 그 중 대표적 형태인 보행형 이동 로봇(Legged Walking Robot)의 장점 및 최신 연구동향을 중점적으로 소개하고자 한다.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.498-500
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• 2016

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.201-202
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• 2010