• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.530-532
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• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1082-1086
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• 1990

This paper gives an account of teleoperated mobile robot system which is intended to operate in hostile environments where human access is limited or prohibited. A prototype mobile robot equipped with manipulator was designed and initial tests were made in laboratory environment. Test results, yet preliminary, have been encouraging for further research efforts. Future plans emerging from these initial results are also summarized.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.485-491
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• 1990

We propose a minimum-time path planning soheme for the robot manipulator using Hopfield neural network. The minimum-time path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computational burden and thus limits the on-line application. One way to avoid such a difficulty is to apply the neural network technique, which can allow the parallel computation, to the minimum-time problem. This paper propose an approach for solving the minimum-time path planning by using Hopfield neural network. The effectiveness of the proposed method is demonstrarted using the PUMA 560 manipulator.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.1
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• pp.5-12
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of human and robots is explored. Based on this interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly through obstacles and other hazards faced by blind pedestrians. The proposed robotic cane, "RoJi,” consists of a long handle with a button-operated interface and a sensor head unit that is attached at the distal end of the handle. A series of sensors, mounted on the sensor head unit, detect obstacles and steer the device around them. The user feels the steering command as a very noticeable physical force through the handle and is able to follow the path of the robotic cane easily and without any conscious effort. The issues discussed include methodologies for human-robot interactions, design issues of an interactive robotic cane, and hardware requirements for efficient human-robot interactions.ions.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2433-2435
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• 2002

The purpose of this paper is to introduce a case study of developing a miniature biped robot. The biped robot has a total of twenty-one degrees of freedom(DOF) ; There are two legs which have six DOF each, two arms which have three DOF each and a waist which has three DOF. RC servo-motors were used as actuators. We have developed motor controller, sensor controller and ISA-interface card. Motor controller, PWM generator, can control eight motors Sensor controller is connected to eight FSR(Force Sensing Resistors). For high level controller communicate with low level controller, ISA-interface card has developed. For the stable walking, CMAC(Cerebellar Model Articulation Controller) neural network algorithm is applied to our system CMAC is robust at noise.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.01a
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• pp.53-54
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• 2018

본 논문은 ROS 프레임워크를 기반으로 4-자유도를 가진 로봇 팔의 Pick-and-Place 동작 제어를 구현하고, 틱택토 게임에 적용한 사례를 제시한다. 로봇 팔의 Pick-and-Place 동작 제어는 움직임 궤적 계획, 충돌 회피 그리고 역기구학 모델링 연산들과 이를 이용한 복잡한 제어 과정을 요구한다. ROS 프레임워크는 간단한 인터페이스 통해 로봇 팔의 동작을 용이하게 제어할 수 있도록 일련의 연산들과 제어 동작을 통합하여 MoveIt 패키지를 제공하고 있으며, 본 논문은 이 패키지를 기반으로 4-자유도의 로봇 팔에 대한 동작 제어 모듈을 구현하였다. 또한 이를 틱택토 게임에 적용하여 로봇 팔을 적절히 제어함을 확인하였다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.2
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• pp.129-139
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• 1987

In this paper the programming language for Hero-1 robot is developed using Apple II micro computer. The language is composed of main monitor mode, editing mode, execution mode, and debugging mode. The main monitor mode is a main flow of the whole language system and controls starting and terminating procedures of operating the controller, and monitors the others. The editing mode has capability to make a user's maniqulation program. Trajectory planning algorithms(point-to-point motion and linear approximate motion)have been realized in the robot language, and in the case of point-to-point motion, inverse kinematics have been solved for the desired point.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2473-2475
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• 2001

In trajectory tracking methods, the error values of current position and velocity are compensated to follow the given reference path and velocity. The path tracking for a wheeled mobile robot is treated in this paper. It is very difficult to implement stable trajectory tracking algorithms because mobile robots have kinematically non-holonomic constraints. For solving this problem, a velocity controller is presented in this paper. This velocity controller is designed by a PID controller which could be easily employed. In this case, velocity errors caused by system uncertainties or internal and external disturbances could exist. A neural network is used for compensating the velocity errors. Input variables of this neural network compensator are defined by differences between the velocities of the posture controller and the real velocities of the mobile robot. Simulation results show the effectiveness of the proposed controller.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.331-336
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• 2013

The purpose of this study is to visualize the characteristics of ER fluids as preceding step of developing 3 port ER valves. As the strength of the electric field increases, more clusters in flow are made and these clusters are thought to be the reasons of the load flow rate being increased and the outlet flow rate being decreased. The ER Valves and load and outlet flow rate check method are considered to be applied to the fluid power control system. Using the manufactured pressure control valve, a one-link manipulator with FHA in robot system is driven. As a result, it is experimentally confirmed that the pressure control valve using ER fluids is applicable to use in driving actuator. If it applies characteristics of the ER fluids, it will be able to apply in the control system for the ER Valve which occurs from industrial controller(PLC).

• Journal of Korea Multimedia Society
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• v.16 no.2
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• pp.213-225
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• 2013

This paper proposes a design method of ball-plate robot controller using single camera and two motors to balance the ball on plate and reduce steady state control error. To design the ball-plate system, it is necessary to observe state of the ball and maintain balance of the plate. The state of the ball is tracked by using the CAMShift algorithm and position error of the ball is compensated by the Kalman filter. Balance of the plate is controlled by driving two motors and we used DC motors which has smaller measurement error. Due to surface condition of the plate or tracking error of ball's position, there are small errors remained. These errors are accumulated and disturb maintaining balance of the ball. To handle the problem, we propose a controller supplemented with an integrator.