• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.422-424
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• 1992

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.233-238
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• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

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

• 한국지능시스템학회논문지
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• 제17권5호
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• pp.712-717
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• 2007

홈 서버와 가정용서비스 로봇, 다양한 Device를 포함하는 홈 네트워크 시스템을 이용하여 가정환경 내에서 발생 가능한 다양하게 분산된 임무들을 수행하는데 있어서 Multi-Agent 시스템을 응용하는 것은 효율적이라고 알려져 있다. 이러한 시스템에서 휴먼 인터페이스와 물리적 서비스 제공의 중추 역할을 하는 것은 바로 지능형 서비스 로봇이다. 따라서, 기존의 Multi Agent System을 응용하여 Multi Agent Robot System을 정의할 수 있다. 가정이라는 'open'된 특성의 환경에서 Multi Agent Robot System이 사용자에게 좀 더 효율적인 서비스를 제공하기 위해서는 존재하는 모든 Agent 간의 유기적인 정보교환과 협력이 필요하다. 이것을 위하여 자율구동하며 사용자에게 물리적 서비스를 제공할 수 있는 다수의 로봇들을 Agent로 정의하고, 로봇 Agent간의 통신과, 로봇 이외의 Agent로써의 역할을 감당할 수 있는 홈 서버 등의 Agent와 로봇 Agent들의 통신을 사용자 interface에 직접 표현할 수 있는 시뮬레이터를 설계, 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.896-902
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• 2004

The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. To make real time control possible by making effective use of recognized information in this dynamic environment, suitable distribution of tasks should be made in consideration of function and role of each performing robots. In this paper, IHMA (Intelligent Hybrid Modular Architecture) of Intelligent combined control architecture which utilizes the merits of deliberative and reactive controllers will be suggested and its efficiency will be evaluated through the adaptation of control architecture to representative multi-robot system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.507-510
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• 1988

The main subject of this paper is the development of new ROBOT CONTROLLER, which can support MULTI-TASKING and MULTI-ROBOT functions. The system consists of various kinds of CPU modules according to their independent jobs. Acceleration and Deceleration profile is given in order to achieve the smooth robot motion and high cycle time. Further the communication capacity should be upgraded to meet the various kinds of peripheral PA devices.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.154-154
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• 2000

The cooperative strategy for the teleoperated multi-agent system is presented. And this scheme has been applied to the teleoperated robot soccer system that is newly proposed. For the teleoperated robot soccer system, we made mapping functions to control a 2-wheeled mobile robot using a 2 DoF stickcontroller. The simulation with a real stickcontroller has been evaluated the performance of the proposed mapping function. Then, the basic cooperation strategy has been tested between teleoperated robot and autonomous robot It is shown that the multi-agent system for teleoperation can have a good performance for a job Like a scoring a goal

• 조명전기설비학회논문지
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• 제24권10호
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• pp.163-173
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• 2010

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• 제어로봇시스템학회논문지
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• 제9권11호
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• pp.906-916
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• 2003

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.