• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.875-879
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.468-472
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• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.795-800
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• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• 한국공작기계학회논문집
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• 제16권6호
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.107-113
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• 2010

In this paper, a prototype of cooperative work model for multi-robots system is introduced and the evolutionary approach is applied to generate the motions for the cooperative works of multi-robots system using genetic algorithm. The cooperative tasks can be performed by a humanoid robot and a mobile robot to deliver objects from shelves. Generation of the humanoid motions such as pick up, rotation, and place operation for the cooperative works are evolved. Modeling and computer simulation for the cooperative robots system are executed in Webots environments. Experimental results show the feasible and reasonable solutions for humanoid cooperative tasks are obtained.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3024-3026
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• 1999

This paper presents a cooperative action controller of a multi-agent system. To achieve an object, i.e. win a game, it is necessary that a robot has its own roles, actions and work with each other. The presented incorporated action controller consists of the role selection, action selection and execution layer. In the first layer, a fuzzy logic controller is used. Each robot selects its own action and makes its own path trajectory in the second layer. In the third layer, each robot performs their own action based on the velocity information which is sent from main computer. Finally, simulation shows that each robot selects proper roles and incorporates actions by the proposed controller.

• Industrial Engineering and Management Systems
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• 제8권3호
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• pp.181-193
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• 2009

This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making "carts," such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.

• Advances in robotics research
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• 제1권2호
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• pp.155-169
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• 2014

Study results in the last decades show that amount and quality of physical exercises, then the active participation, and now the cognitive involvement of patient in rehabilitation training are known of crux to enhance recovery outcome of motor dysfunction patients after stroke. Rehabilitation robots mainly have been developing along this direction to satisfy requirements of recovery therapy, or focusing on one or more of the above three points. Therefore, neuro-machine interaction based active rehabilitation robot has been proposed for assisting paralyzed limb performing designed tasks, which utilizes motor related EEG, UCSDI (Ultrasound Current Source Density Imaging), EMG for rehabilitation robot control and feeds back the multi-sensory interaction information such as visual, auditory, force, haptic sensation to the patient simultaneously. This neuro-controlled and perceptual rehabilitation robot will bring great benefits to post-stroke patients. In order to develop such kind of robot, some key technologies such as noninvasive precise detection of neural signal and realistic sensation feedback need to be solved. There are still some grand challenges in solving the fundamental questions to develop and optimize such kind of neuro-machine interaction based active rehabilitation robot.