• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.326-331
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• 2010

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.10
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• pp.1205-1211
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• 2012

A marionette is a moving puppet that can be made to perform several actions by pulling wires connected to the puppet. Because a marionette is operated by hand, a stage performance with a human-sized marionette is impossible. However, a marionette robot operated using a wire controller could be used as a human-sized marionette to conduct a stage performance with other robots or actors. In addition, by using mobile stages that utilize mobile platforms, a wire controller, and the marionette robot body, the large marionette robot system designed in this study can be made to rotate and translate freely in a stage performance. The feasibility of the structure of the marionette robot wire control system is verified by using dynamics analysis. Furthermore, the efficiency and safety of the robot is demonstrated by manufacturing and operating a prototype robot.

• Journal of Drive and Control
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• v.17 no.4
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• pp.31-37
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• 2020

We are concerned with the dual-arm manipulation for disaster-responding special-purpose machinery. This paper presents a control strategy for performing complex work in an irregular environment, the control algorithm, the hydraulic circuit, and the master devices. The occurrence of collapse accidents at disaster sites such as natural disasters and building collapses is increasing, which is emerging as a social problem. In particular, for the initial response, various tasks must be performed in an irregular environment. The Marionette algorithm for intuitive control of 'as if the operator's arm is moving' was presented as a control strategy for dual-arm manipulators with attachments and the prototype. Next, the hydraulic circuit, control system, and wearable-type master device presented to implement the Marionette algorithm were explained and verified through an experiment in which rebar-cutting, drum-lifting, and lifting a bottle with one arm and pouring the water into the bucket with the other arm were tested.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1801-1802
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• 2008

마리오네트는 끝단에 연결된 줄을 이용하여 사용자가 제어 할 수 있는 인형이다. 본 연구는 마리오네트 원리를 적용하여 인간의 동작을 통해 로봇을 직접 제어할 수 있는 방법을 제안한다. 이를 위해 인간 손과 로봇 손의 사이에 가상의 줄(Virtual Elastic strip)이 연결되어 있는 모델을 사용한다. 실시간으로 측정되는 인간의 동작에 따라 가상 줄의 길이가 변하게 되고 가상 힘이 발생된다. 이 가상 힘을 고려하여 로봇 팔의 정동역학(Forward dynamics) 해를 구한 후, 제어를 위한 로봇의 각 관절값을 얻게 된다. 제안한 방법을 이용하여 인간 동작을 실시간으로 가상 로봇의 동작으로 변환하고 제어하는 실험을 수행하였다.