• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.137-141
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• 1988

A sampled data controller for the quadruped walking robot is presented. To provide systematic design procedure, the relation between PI gain of velocity controller and sampling rate is analyzed with the ISE performance index and the time responses. The position controller for one-leg, 3-axis, was developed under consideration of compactness and expendability. And several experiments were performed.

• 한국전자통신학회논문지
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• 제17권3호
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• pp.537-542
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• 2022

실내 공기질에 관한 관심과 중요성이 커지고 있으나 현재의 고정된 장비를 이용한 실내 공기질 측정 방법에는 한계가 있다. 본 논문에서는 이동 중 요철에 의한 진동을 최소화하여 탑재된 센서를 보호하기 위해 소형 다족형 로봇에 공기질 측정 장비를 탑재하여 이동형 공기질 측정 로봇을 개발하였다. 개발한 이동형 공기질 측정 로봇은 간단한 보행 메커니즘을 활용하여 DC 모터 두 개의 정회전과 역회전 조합만으로 로봇의 전진, 후진, 좌우 선회가 가능하다. 로봇의 보행이나 보행 궤적을 제어하기 위해 복잡한 연산이 필요치 않고 하나의 아두이노를 사용해 로봇의 보행 제어 및 다양한 공기질 측정 장비의 데이터 획득과 전송을 할 수 있었다. 로봇 전장부의 소모 전력이 낮아 비교적 저용량의 배터리를 탑재하여 배터리로 인한 무게를 줄일 수 있었다. 개발한 로봇은 몸통에 배터리와 모터를 포함하여 다양한 공기질 측정 장비를 탑재하고 1.4kg의 무게를 가지며, 보행 및 선회 속도는 3.75cm/sec와 14.13rad/sec로 측정되었다. 다리의 최대 수직 도달 높이는 33mm였으나, 요철은 최대 24mm 높이까지 극복할 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.59-60
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• 2013

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.501-505
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• 2016

In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.506-509
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• 2016

In this paper, the multi-leg robot is designed using Teo Jansen mechanism. The purpose of this paper is to develop unique robot, which operates efficiently in any environment. In that case, speed and accuracy are required. The indication which evaluate the value is Ground Score according to the Jansen's mechanism. To optimize the Ground Score. Genetic Algorithm (GA) in MATLAB Toolbox is used, which is numerical analytic algorithm to quickly convergence into optimum point. The Optimization of value is visualized by M-Sketch. M-Sketch was useful for simulation and evaluation of mechanic's dynamic motion. The robot's draft is produced into finished product by Edison Designer.

• 한국정밀공학회지
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• 제30권10호
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.936-941
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• 2014

Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.

• Journal of Electrical Engineering and Technology
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• 제13권2호
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• pp.1008-1020
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• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• 로봇학회논문지
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• 제17권1호
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• pp.48-57
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• 2022

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

• 로봇학회논문지
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• 제2권4호
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• pp.353-360
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• 2007

This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.