• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2004년도 추계학술대회
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• pp.166-169
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• 2004

In this paper show how to design a redundant robot which is suitable for the multiple task without any constraints on the workspace. The implementation is possible by the rigid connection of a mobile robot and a task robot. Use a five joint articulated robot as the task robot; designed the 3 joint mobile robot for this usage. For a task execution assigned to the redundant robot, not only the task robot but the mobile robot should work in the coordinated way. therefore, a kinematic connection of the two robots should be cleary represented in a frame. And, also the dynamic interaction between the two robots needs to be analyzed. Clarified these issues considering the control of the redundant robot. Finally, demonstrate away of utilization of the redundancy as the cooperation between the mobile robot and the task robot to execute a common task.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2005년도 추계 학술발표대회 논문집
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• pp.26-27
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• 2005

• 한국해양공학회지
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• 제29권5호
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• pp.380-385
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• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• 한국생산제조학회지
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• 제26권1호
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• pp.89-99
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• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• 공학교육연구
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• 제22권5호
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• pp.56-62
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• 2019

This paper suggests the necessity of design education to engineering majors through qualitative research on the characteristics of intelligent artifacts. Robot cleaner is one of intelligent artificial objects that can approach people's life without awkwardness. How do people think of robot cleaners and define their personality, these days? In this experiment, subjects use and observe four different robot cleaners that have different appearances, behaviors and sounds in an experimental setup where is similar to actual use environment. We measure subjects' preferences and assessments for four different robot cleaners' personality. The test subjects were 11 designers who frequently collaborated with engineers and were able to express and express opinions about products. Experimental results showed that robot cleaners with the highest scores in appearance, behavior, and sound had the highest preference. In contrast, robot cleaners with low scores in three factors showed different results in the preference ranking.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2004년도 춘계 학술발표대회 논문집
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• pp.324-325
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• 2004

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 추계학술대회 논문집
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• pp.229-230
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• 2006

• 한국지능시스템학회논문지
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• 제23권1호
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• pp.24-28
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• 2013

이 논문에서는 아동 크기 휴머노이드 로봇의 설계 및 개발과정에 대하여 기술한다. 경량형 휴머노이드 로봇의 설계 개념을 제시하고, 3차원 설계 툴을 이용하여 1m 이상 크기 휴머노이드 로봇의 메커니즘을 설계하였다. 로봇의 구동을 위한 하드웨어는 제한된 로봇의 무게 내에서 최적의 성능을 낼 수 있도록 설계하였다. 3차원 설계 툴을 사용하여 설계한 로봇의 프레임 및 링크들은 가볍고 강도가 좋은 재료를 선정하고 정밀 가공을 통해 제작하였다. 제작된 아동 크기의 휴머노이드 로봇은 역기구학, 균형제어를 적용하여 기본 동작을 구현하고 그 성능을 실험을 통하여 확인하였다.

• 대한기계학회논문집A
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• 제34권9호
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• pp.1145-1151
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• 2010

본 논문은 형상기억합금 와이어에 의해 구동되는 점핑로봇에 대한 연구로서 기구의 설계와 컴퓨터 시뮬레이션을 포함하고 있다. 인간과 같은 척추동물 하지 근골격계의 구조와 기능을 모방한 구조의 점핑 기구를 설계하였다. 점핑 기구의 각 다리는 대퇴부, 정강이, 발의 세 부분으로 구성되고, 점핑에 필수적인 단일관절근육인 대둔근, 양관절근육인 대퇴직근과 비복근을 포함하는 구조이다. 각 근육을 형상기억합금 와이어로 대체한 컴퓨터 모델로 시뮬레이션한 결과, 로봇의 최대 점핑 높이가 로봇 신장의 약 4 배임을 확인하였다. 또한 구조가 보다 단순화된 로봇 모델과 점핑 성능을 비교하였고, 그 결과 근골격계를 모방한 모델이 점핑 높이 면에서 3.3 배 우수한 것으로 나타났다. 이러한 컴퓨터 시뮬레이션을 통하여 형상기억합금이 소형 점핑로봇의 작동기로 사용하기에 적합함을 확인하였다.