• 한국군사과학기술학회지
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• 제10권4호
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• pp.185-194
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• 2007

This paper presents a motor selection technique for a manipulator design that is used in a multipurpose dog-horse robot. Since the dynamics of a manipulator and its servo drives are closely related to each other, it requires a repetitive analysis to determine a suitable motor. In order to simplify this procedure, Straete et al. proposed a simple normalization method to separate the load dependent terms and the motor dependent terms. This technique is adopted in this paper for selecting a motor in designing a manipulator.

• 한국군사과학기술학회지
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• 제15권1호
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• pp.1-8
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• 2012

Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.

• 한국군사과학기술학회지
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• 제22권3호
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• pp.401-407
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• 2019

In this paper, the position estimation considering wheel slip of mecanum wheeled mobile robots is discussed. Since the mecanum wheeled mobile robot does not need a space to rotate, it is very suitable in narrow industrial fields. However, the slip caused by the roller attached to the wheel makes it difficult to estimate the position precisely. Due to these limitations, mecanum wheels are rarely applied to unmanned mobile robots in automation factories. In this paper, a method to compensate the orientation and distance error caused by the slip is proposed. The exact orientation is measured by fusing gyro and magnetometer sensor data with application of Kalman filter. In addition, the kinematic model accounting slip effects will be defined to compensate the distance error.

• 융합보안논문지
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• 제19권1호
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• pp.145-152
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• 2019

제4차 산업혁명과 군에서의 제3차 상쇄전략이 대두되는 시대에 군에서의 인공지능과 자율화 능력을 갖춘 로봇의 활용이 본격화 되고 있다. 제3차 상쇄전략은 제4차 산업혁명의 기술을 기반으로 제시된 것이며, 우리나라도 미국의 군사과학기술에 많이 의존하고, 동맹 관계의 군사전략적 특성 상 위 혁명과 전략에 직간접적으로 많은 영향을 받고 있다. 제4차 산업혁명과 제3차 상쇄전략이 군에서 성공적으로 적용되기 위해서는 기술적 완성을 넘어서 해결해야 될 많은 이슈들이 존재한다. 하지만 관련 기술의 장점과 비교해서 이면에 숨겨진 단점이나 제한사항은 언론이나 학술연구에서 찾아보기 어렵다. 본 논문에서는 성공적인 혁명과 전략을 위해서 생각해보아야 될 이슈 중에서 로봇 윤리 및 기술 불균형, 자율화 기능의 제한사항, VR/AR/MR 적용 시 유발되는 영상피로, 사이버/네트워크 보안 분야를 중점적으로 설명하고, 이에 대한 해결방안을 제시하고 있다.

• 로봇학회논문지
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• 제2권1호
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• pp.103-108
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• 2007

Intelligent Robot is considered as one of the Next Generation Growth Engine in many countries. The application fields are expected to be widen from 80's robotics for manufacturing to many applications such as military, space, medical, personal, etc. To reduce the R&D investment risk Technical Roadmap is prepared by Japan, Europe and Korea. In this paper, the technical Roadmap of the countries was analysed to get the idea of future of Robotics. Robotics is considered as one of solutions of future aged society. Robot can assist and company with elderly people in the near future. On the other hand, Robot is considered as a core technology of manufacturing competitive power. Industrial competitiveness also would be dependent on robot technology. Special Service robot has many application areas and each country has different target based on the situation. With the comparison of technical roadmap, we have suggested some ideas to improve Korea's roadmap.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.118-125
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• 2012

Based on recent advances in technology, many robots are developed and they are used in a hazardous environment such as military operation, fire, and building collapse and so on. Among them, reconnaissance robot should be able to perform various missions which people can not do. So it needs the capability of moving with hiding its position on rough terrain, overcoming obstacles, and guaranteeing its efficiency of reconnaissance. For this reason there are in progress of researching biomimetic robots. Therefore in this paper we proposed robot mechanism, two modules based on the screw and wheel mechanism which mimic snake, and the spiral climbing method was considered for overcoming the situation when moving on the trees.

• Journal of information and communication convergence engineering
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• 제10권4호
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• pp.372-377
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• 2012

In this paper, we propose an implementation of a real-time operating system for the two-wheel mobile robot. With this implementation, we have the ability to control the complex embedded systems of the two-wheel mobile robot. The advantage of the real-time operating system is increasing the reliability and stability of the two-wheel mobile robot when they work in critical environments such as military and industrial applications. The real-time operating system which was ported to this implementation is open systems and the corresponding interfaces for automotive electronics (OSEK/VDX). It is known as the set of specifications on automotive operating systems, published by a consortium founded by the automotive industry. The mechanical design and kinematics of the two-wheel mobile robot are described in this paper. The contributions of this paper suggest a method for adapting and porting OSEK/VDX real-time operating system to the two-wheel mobile robot with the differential drive method, and we are also able to apply the real-time operating system to any complex embedded system easily.

• 한국생산제조학회지
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• 제24권6호
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• pp.667-674
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• 2015

This paper describes the development of a prototype hexapod robot with six circular legs to overcome a variety of challenging terrains. The legs of the robot are very important for stability during walking, which are analyzed for determining the optimal design parameters through CAE tools. Its control system consists of three types of sensors, microprocessors, and communication modules for PC interface. The entire operation of the robot can be controlled and monitored using a PC. The experimental operations for three different roads verified the feasibility of the prototype robot for carrying out reconnaissance on multi terrain. In the near future, the prototype robot can be used for a military purpose of detecting and informing a potential risk in advance.

• 로봇학회논문지
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• 제18권3호
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• 로봇학회논문지
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• 제18권4호
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• pp.444-455
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• 2023

In this report, a specialization plan for wearable robots by mission profile was investigated and analyzed to derive an application plan. The final goal of this study was to derive the operating requirements of wearable robots according to specialized plans, and to conduct a specialized study on wearable robots by mission profile through investigation/analysis of specialized plans for each mission profile. In the study, 1) Research on technology trends related to military wearable robots such as patents and papers, 2) Research/analysis of mission profiles to characterize wearable robots, 3) Analysis of wearable robot specialization plans according to mission profiles, and 4) Requirements for wearable robot operation were derived. In the first time of the study, a survey on technology trends related to wearable robots for soldiers such as patents and papers was completed, and a military consultative body was conducted to derive measures to characterize wearable robots. In addition, a survey was conducted on mission profiles, and the second time study derived Key Performance Parameters (KPP) for operational performance, core performance, and system performance based on scenarios by mission profile. However, it is revealed that the KPP derived from the research results was not covered in this paper because it was judged that more in-depth research was needed prior to disclosure. In order to prepare for future battlefield situations and increase the usability of wearable robots, this study was conducted to characterize wearable robots by considering the characteristics of soldiers' equipment according to mission profiles and to characterize wearable robots by mission profile.