• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1169-1170
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• 2008

The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer 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.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.189-192
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• 2002

This paper has been studied the movement of snake robot. In this paper we developed a simulator to simulate the creeping locomotion of a snake robot. This Robot makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Using the nonslip condition of the wheels, the robot gains propulsion by means of constrained forces on the wheels caused by bending the joints. The results of simulations show that smooth lateral undulatory motion is achived.

• 전자공학회논문지B
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• 제31B권9호
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• pp.47-56
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• 1994

In this paper, we demonstrate how to design a redundant robot which is suitable for the multiple task execution without any constraints on the work space. The implementation is possible by the rigid connection of a cacro-robot and a micro-robot. A 5 d.o.f. articulated robor designed for commercial purpose is utilized as a micro-robot which can perform a general task with the appropriate adjustment of its base location. The base of a micro-robot is located at a suitable position by the macro-robot designed and implemented through this research. A task assigned to this redundant robot is performed mainly by the micro-robot. However, when the micro-robot cannot perform the task by itself or when the micro-robot has difficulties in performing the task, the coordination of the macro-robot is requited. To monitor the task execution efficiency of the micro-robot, we used the 'Manipulability Measure' as a cost function. The coordination between the two robots are verified both by the simulation and the experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.493-495
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• 2004

In this paper, shows a research in accordance with the design the implementation of the localization system for mobile robot using INS(Inertial Navigation System) and GPS(Global Positioning System). First, a Strapdown Inertial Navigation System : SDINS is designed and implemented for low speed walking robot, by modifying Inertial Navigation System which is widely used for rocket, airplane, ship and so on. In addition, thesis proposes the localization of robot with the method of loosely coupled method by using Kalman Filter with INS/GPS integrated system to utilize assumed position and steed data from GPS.

• ETRI Journal
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• 제27권6호
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• pp.666-676
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• 2005

In recent years, motivated by the emergence of ubiquitous computing technologies, a new class of networked robots, ubiquitous robots, has been introduced. The Ubiquitous Robotic Companion (URC) is our conceptual vision of ubiquitous service robots that provide users with the services they need, anytime and anywhere in ubiquitous computing environments. To realize the vision of URC, one of the essential requirements for robotic systems is to support ubiquity of services: that is, a robot service must be always available even though there are changes in the service environments. Specifically robotic systems need to be automatically interoperable with sensors and devices in current service environments, rather than statically preprogrammed for them. In this paper, the design and implementation of a semantic-based ubiquitous robotic space (SemanticURS) is presented. SemanticURS enables automated integration of networked robots into ubiquitous computing environments exploiting Semantic Web Services and AI-based planning technologies.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.681-687
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• 2010

In this paper, an implementation of force control for a slave mobile robot in tele-operation environment is presented. A mobile robot is built to have a force control capability with a force sensor and tested for force tracking control performances. Both position and contact force are regulated by a PID based hybrid control method and the impedance force control method. To minimize accumulated errors due to the adaptive impedance force control method, the novel force control method with a weighted function is proposed. Experimental studies of regulating contact forces for different control algorithms are tested and their performances are compared.

• 로봇학회논문지
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• 제17권3호
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• pp.273-281
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• 2022

In this paper, we propose a robot sound recognition system that detects various sound events. The proposed system is designed to detect various sound events in real-time by using a microphone on a robot. To get real-time performance, we use a VGG11 model which includes several convolutional neural networks with real-time normalization scheme. The VGG11 model is trained on augmented DB through 24 kinds of various environments (12 reverberation times and 2 signal to noise ratios). Additionally, based on random forest algorithm, a decision logic is also designed to generate event signals for robot applications. This logic can be used for specific classes of acoustic events with better performance than just using outputs of network model. With some experimental results, the performance of proposed sound recognition system is shown on real-time device for robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.340-345
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• 1998

A virtual reality system is implemented for the operator supervising a robot's operation at a remote site. For this implementation, a two D.O.F force-reflective joystick is designed to reflect the force/torque measured at the end of robotic manipulator and to generate the motion command for the robot by the operator using this joystick. In addition, the visual information that is captured by a CCD camera, is transmitted to the remote operator and is displayed on a CRT monitor. The operator who is holding the force reflective joystick and watching the CRT monitor can resolve unexpected problems that the robot confronts with. That is, the robot performs the tasks autonomously unless it confronts with unexpected events that can be resolved by only the operator. To demonstrate the feasibility of this system, a remote peg-in-hole operation is implemented and the experimental data are shown.

• 한국공작기계학회논문집
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• 제10권2호
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• pp.38-47
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• 2001

In this paper, a new scheme of adaptive-neuro control system is presented to implement real-time control of robot manipulator using Digital Signal Processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of therir prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust perfor-mance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method.The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for the implementation of real-time control of robot system by the simulation and experi-ment.