• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.605-607
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• 1997

According to the way of the robot control, the robot systems of all the teams which participate in the MIROSOT can be divided into three categories : the remote brainless system, the vision-based system and the robot-based system. The MIRAGE I robot control system uses the last one, the robot-based system. In the robot-based system the host computer with the vision system transmits the data on only the location of the ball and the robots. Based on this robot control method, we took part in the MIROSOT '96 and the MIROSOT '97.

• 제어로봇시스템학회논문지
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• 제7권5호
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• pp.420-426
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• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.511-515
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• 1996

A remote controlled mobile robot system has been developed and tested to monitor the radiation area in the nuclear power plant. The mobile robot system operates according to car-driving-like commands and is capable of radiation measurement and visual inspection in unmanned situations under radiation. The robot system is equipped with a radiation sensor and two cameras with appropriate illumination set-ups. The camera with auto-focus function and 8-times zoom lens is mounted on the pan/tilt rotational base and the other is mounted on the front panel of the robot system. All commands regarding the motion of the mobile robot and various sensors are given through the monitoring system which is designed to provide an integrated man-machine interface.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2002년도 춘계학술대회 및 임시총회
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• pp.105-108
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• 2002

This paper represents the mobile robot control system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.241-245
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• 2004

This paper shows the development of remote control system for manipulators which consists of PHANToM Device as a master, Samsung FARA robot as a slave and TCP/IP based LAN for their Communication. This work includes the motion mapping between the master and the slave, Generation of virtual viscosity force preventing operator s unwilled action and 3D remote control simulators for the stable operation of the remote control system, etc. The remote control implementation has been performed and the results shows that the developed system can allow the operator to effectively control the manipulator.

• 한국지능시스템학회논문지
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• 제22권5호
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• pp.669-674
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• 2012

본 논문은 아이폰을 사용하여 WiFi 통신을 기반으로 이동로봇을 원격 제어하는 연구에 대하여 다룬다. 무선제어를 위하여 다음과 같은 세 가지 인터페이스를 제안 한다 : 기울기 모드, 방향 터치 모드, 조그셔틀 모드. 세 가지 인터페이스를 평가하기 위해 모니터에 그려진 궤적을 아이폰의 인터페이스를 사용하여 가상 로봇을 제어 하였다. 세 가지 인터페이스의 장단점을 분석하기 위해 표준편차와 오차가 시뮬레이션에서 분석되었다. 제안된 인터페이스는 추가비용이 별도로 필요한 무선 제어기를 휴대폰으로 대체하게 해준다. 실험의 결과로 제안된 인터페이스들이 원격 로봇 제어를 위해 효과적으로 사용될 수 있음을 보여준다.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.558-565
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• 2011

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

• 로봇학회논문지
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• 제12권4호
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2779-2782
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• 2003

A tole-robot system for remote home-management has been developed. The tele-robot system is composed of a mobile robot system, server-computers and client-computers. The robot system is equipped with wireless camera and wireless controller so that the robot system captures the image remotely User makes the robot control command referring to the image feedback through internet. With such tole-robot system, the user can monitor and watch the inside of home by remotely maneuvering the mobile robot. The user can also save the received image of suspected scene on the client computer. Utilizing such function of tele-robot system, remote home-management and possible crime avoidance could be achieved.

• 한국콘텐츠학회논문지
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• 제6권8호
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• pp.8-19
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• 2006

유비쿼터스 환경에서 지능형 로봇의 실시간 원격 제어 및 모니터링 기술은 로봇의 센서나 카메라 영상으로 획득한 다양한 컨텐츠를 시간과 지역에 비 의존적으로 공유할 수 있는 서비스를 창출한다. 본 논문에서는 지능형 로봇의 원격 실시간 감시/제어 방법을 제안한다. URC는 기존의 로봇에 네트웍크 및 정보기술을 접목하여 유선 및 무선 통신이 가능한 외부 디지털 장치와 상호 연동하도록 설계된 지능형 로봇이다. ISSAC4라는 국민 로봇에 본 연구결과를 적용하고, 실용적 가치를 검증하였다. 연속성을 보장하는 Client-Pull 방식의 실시간 영상 전송 방식으로 위치에 상관없이 웹 브라우저를 통한 원격 제어가 가능하도록 설계하였다.