• Title/Summary/Keyword: Modular Robot System

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Design of the Combination and Separation Structures of a Modular Robot (모듈러 로봇의 결합 및 분리 구조 설계)

  • Ryoo, In-Hwan;Lee, Bo-Hee;Khong, Jung-Shik
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.12 no.8
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    • pp.3626-3635
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    • 2011
  • The modular robots are a kind of system that was developed to overcome the limitation of the movement for the mobile robot with wheels or legs. In legs type mobile robot case, they are limited for velocity and balance during moving at the uneven terrain. In wheeled mobile robot case, they are also limited to overcome dump, stair and so on. The modular robots can overcome moving limitation because of their transforming ability. However, they are researched not only driving mechanism but also combination mechanism. In this paper we proposed four kinds of unique structure for the combination and separation and also its algorithm. The effectiveness of the structure is verified with building the real structure and taking experiments to the designed modular robot

A Navigation Algorithm of Modular Robots with 3 DOF Docking Arm in Uneven Environments (3자유도 결합 팔을 가진 모듈형 로봇의 비평탄 지형 주행 알고리즘)

  • Na, Doo-Young;Min, Hyun-Hong;Lee, Chang-Seok;Noh, Su-Hee;Moon, Hyung-Pil;Jung, Jin-Woo;Kim, Yong-Tae
    • Journal of the Korean Institute of Intelligent Systems
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    • v.20 no.3
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    • pp.311-317
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    • 2010
  • In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.

A System Program for Revolute Type Manipulatora (수직 다관절 로보트를 위한 시스템 프로그램)

  • 최호현;고경철;임계영
    • 제어로봇시스템학회:학술대회논문집
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    • 1987.10b
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    • pp.14-18
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    • 1987
  • In this paper, a system program is introduced for the effective operation of revolute type robot manipulator. The I system program consists of several modes and specific functions. These modes and functions are flexible and easy to use because the structure is modular and conversational. This program had implemented and verified the efficiency together with a five axes robot.

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Design and Realization of a Small Humanoid Robot (소형 휴머노이드(SERO-VI) 로봇 설계 및 구현)

  • Lee, Bo-Hee;Jun, Jae-Min;Kim, Ki-Woo;Park, Sung-Chul;Oh, Jun-Young
    • Proceedings of the KIEE Conference
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    • 2005.10b
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    • pp.255-257
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    • 2005
  • This paper deals with the design and the realization of a small humanoid robot, which is called SERO_VI. The design concept and the mechanical structure including kinematics for the robot are presented. The humanoid robot consisted of 25 DOF with legs 12 DOF, arms 8 DOF, waists 3 DOF and heads 2 DOF for the purpose of vision system. The controller structure was also suggested such as modular joint actuators, DSP interface and their communication method. Simple experiment was done and its validness was investigated in order to verify the kinematic result.

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Fuzzy Navigation and Obstacle Avoidance Control for Docking of Modular Robots (모듈형 로봇의 자가 결합을 위한 퍼지 주행 제어 및 장애물 회피 제어)

  • Na, Doo-Young;Noh, Su-Hee;Moon, Hyung-Pil;Jung, Jin-Woo;Kim, Yong-Tae
    • Journal of the Korean Institute of Intelligent Systems
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    • v.19 no.4
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    • pp.470-477
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    • 2009
  • Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

Systems Engineering-based Manipulator System Development for Pipetting Automation (피펫팅 자동화를 위한 시스템엔지니어링 기반 매니퓰레이터 시스템 개발)

  • Su Ho, Kim;Jeong Hyun, Han;Ki Tae, Nam;Jun Kyeong, Kim;Seong Hun, Hong
    • Journal of the Korean Society of Systems Engineering
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    • v.18 no.2
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    • pp.126-139
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    • 2022
  • The need for synthetic automation is increasing in preparation for a gradual decrease in laboratory research manpower due to low birth rate and aging. In this study, the existing laboratory synthesis method is analyzed based on the systems engineering technique. Then, it led to the derivation of the system requirements for a fixed-based robot manipulator capable of recognition, decision and control. The robot is equipped with replaceable modular end-effectors and designed depending on the purpose and process of the synthesis. The robot with an end-effector was implemented as PoC(Proof-of-Concept), and the functions for pipetting automation was verified.

A Robot Soccer Strategy and Tactic Using Fuzzy Logic (퍼지 로직을 적용한 로봇축구 전략 및 전술)

  • Lee, Jeong-Jun;Ji, Dong-Min;Lee, Won-Chang;Kang, Geun-Taek;Joo, Moon G.
    • Journal of the Korean Institute of Intelligent Systems
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    • v.16 no.1
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    • pp.79-85
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    • 2006
  • This paper presents a strategy and tactic for robot soccer using furry logic mediator that determines robot action depending on the positions and the roles of adjacent two robots. Conventional Q-learning algorithm, where the number of states increases exponentially with the number of robots, is not suitable for a robot soccer system, because it needs so much calculation that processing cannot be accomplished in real time. A modular Q-teaming algorithm reduces a number of states by partitioning the concerned area, where mediator algorithm for cooperation of robots is used additionally. The proposed scheme implements the mediator algorithm among robots by fuzzy logic system, where simple fuzzy rules make the calculation easy and hence proper for robot soccer system. The simulation of MiroSot shows the feasibility of the proposed scheme.

Redundant Architectural Design of Hydraulic Control System for Reliability Improvement of Underwater Construction Robot (수중건설로봇의 유압 제어 안정성 향상을 위한 이중화 설계)

  • Lee, Jung-Woo;Park, Jeong-Woo;Suh, Jin-Ho;Choi, Young-Ho
    • Journal of Ocean Engineering and Technology
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    • v.29 no.5
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    • pp.380-385
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    • 2015
  • In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

A PC-Based Open Robot Control System : PC-ORC (PC에 기반을 둔 개방형 로봇제어시스템 : PC-ORC)

  • 김점구;최경현;홍금식
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.5
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    • pp.415-425
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    • 2000
  • An open architecture manufacturing strategy intends to integrate manufacturing components on a single platform so that a particular component can be easily added and/or replaced. Therefore, the control scheme based upon the open architecture concept is hardware-independent. In this paper, a modular and object oriented approach for a PC-based open robot control system is investigated. A standard reference model for robot systems, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then, a PC-based Open Robot Controller(PC-ORC), which can reconfigure robot control systems in various production environments, is developed. The PC-ORC is built upon the object-oriented method, and allows an easy implementation and modification of various modules. The PC-ORC consists of basic softwares, application objects, and additional hardware device on the PC Platform. The application objects are: sequencer, computation unit, servo control, ancillary equipment, external sensor control, and so on. In order to demonstrate the applicability of the PC-ORC, the proposed PC-ORC configuration is applied to an industrial SCARA robot system.

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Development of the remote controlled robotic system in nuclear facilities (원자력시설내의 원격 제어 로보트 시스템 개발)

  • 황석용;손석원;김승호;이종민
    • 제어로봇시스템학회:학술대회논문집
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    • 1989.10a
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    • pp.230-234
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    • 1989
  • This paper presents the design of a prototype robot and architecture of a distributed control system. The robot, named as KAEROT, has been developed for the purpose of the reduction of personal radiation exposure and the remote maintenance tasks in nuclear facilities. The mobile system with robotic manipulator has been designed to go up and down stairs. For the dextrous handling, this manipulator will be designed as a redundant type to act like a human arm. Manipulator control system is to be extended easily for further usage with a modular architecture to get independency and reliability by minimizing EMI effects.

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