• 제어로봇시스템학회논문지
• /
• 제8권6호
• /
• pp.477-483
• /
• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 한국가구학회지
• /
• 제28권2호
• /
• pp.126-134
• /
• 2017

This study explores PyeongSang, a piece of traditional Korean furniture, in order to make people know the details about what the piece is in the first paper. And based on the paper, PyeongSang will be developed as moulded multi-useful beds and sofas adapting the joint and ornament from the structure and pattern of the piece in the next paper. As the result, it appeared as two styles such as bed types mentioned as SalPyeongSang and ttulmaru in Korean. The pieces have been used from the three Kingdoms period in Korean history. The styles appeared as the structure of four parts with the lower fences called as nangan, the seats jointed by thin wood pieces, the wind hole, and the legs of foot types. The parts were beautifully carved with the ornament such as lattice patterns like geokjamun and manjamun, flower patterns like dangchomun, elephant eyes patterns like ansangmun from the Korean tradition. And the legs showed various shapes such as supports transformed from horse foots, tiger legs and bamboo, and board types carved with elephant eyes and geometric patterns. Hence, in the next paper based on this paper, PyeongSang will be developed as moulded multi-useful beds and sofas adapting the joints and ornaments from the structure and patterns of the piece.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.79-80
• /
• 2007

This paper deals with generating multi-ped mobile robot's optimal path and its simulation. The multi-ped robot has six-legs which make it possible to move actively by attached driving wheel at the end of legs. The simulation environment is created similarly to the indoor environment as simple obstacles and walls. Also simulator can reconstruct an simulation environment. In this paper, the suggested simulator can generate the optimal path from starting point to destination by applying the A* algorithm and Bug2 algorithm. Then it is possible to check algorithms as 3D screen and we can simulate under the generated path.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1995년도 하계학술대회 논문집 B
• /
• pp.874-876
• /
• 1995

Force and compliance control has been used in the control of legged walking vehicles to achieve superior terrain adaptability on rough terrains. The compliance control requires distribution of the vehicle load over the supporting legs. However, the constraint equations for ground reaction forces of supporting legs are generally underdetermined, allowing an infinite number of solutions. Thus, it is possible to apply an optimization criteria in solving the force setpoint problem. It has been observed that the previous force setpoint optimization methods sometimes cause a system stability problem and/or the load distribution among supporting legs is not well balanced due to a memory effect on the solution trajectory, This paper presents an iterative force setpoint method to solve this problem using an interpolation technique. By simulation it was shown that an excessive load unbalance among supporting legs and the memory effect in the force trajectory are alleviated much with the proposed method.

• 로봇학회논문지
• /
• 제17권4호
• /
• pp.500-507
• /
• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• 대한기계학회논문집A
• /
• 제26권12호
• /
• pp.2598-2604
• /
• 2002

Robots that can move along the narrow and rough tube are very important as the request for the inspection increases. It is necessary for the inspection robots to have a capability to move successfully at even overturned situation and have a simple mechanism to reduce the unexpected failure possibility fer the successful completion of the given mission. Through this paper, the authors propose a novel and simple mechanism using a combination cam device to generate the locomotive motion of multi-legs. This robot uses one DC motor and one combination cam shaft to generate the locomotive motion and can move rough tubes without failure even at the overturned situation. The robot also shows enough fragging force fer the connected line that is very important for a wired inspection robot. Kinematics analysis to design the specification of the robot will be followed and several applications show this robot's potential capabilities.

• 한국기계가공학회지
• /
• 제20권11호
• /
• pp.74-79
• /
• 2021

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.

• 한국실내디자인학회논문집
• /
• 제13권5호
• /
• pp.173-180
• /
• 2004

The cultural identity of each nation has appeared as a major issue in this multi-cultural era, and needs to define It clearly through comparisons with other cultures have been raised. The purpose of this study is to figure out ‘similarity’ and ‘dissimilarity’ on design characteristics of traditional storage furniture in interior context of Korea, China and Japan. Comparative analysis of traditional furniture was conducted in two terms, in terms of inner space, first, spatial elevation and front patterns, second, flooring materials of the interior space and types of furniture legs. Result of first comparative analysis showed that composition of windows, one of the major decorative elements of interior space, positively influenced on furniture, and reflected unique patterns of each country. Second comparative analysis showed that structures and shapes of traditional furniture vary depending on flooring materials. As a result of it, Korean furniture has the structure of ‘punghyeol’ and Chinese furniture has the structure of ‘aja’ with ‘takni’ , a combination of legs. In contrast to the two countries, Japanese furniture has rarely legs. The result of analysis is expected to act a role of establishing the cultural identity of our own country.

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

• 한국해양공학회지
• /
• 제26권5호
• /
• pp.47-54
• /
• 2012

In this study, numerical simulations were performed to evaluate the current loads acting on the multi-legged underwater robot "Crabster" with a variety of incident angles using the ANSYS-CFX package. The Reynolds-averaged Navier-Stokes equations were solved to simulate the fluid flow around Crabster to calculate the forces and moments induced by incoming currents with various angles. First, to assess the posture stability of the body, the forces and moments were calculated with various incident angles when the current acted in the vertical and horizontal directions. Next, two forms of legs (box and foil types) were evaluated to determine the hydrodynamic force variation. Finally, the current forces and moments acting on the Crabster body with the legs attached were estimated.