• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.242-248
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• 2007

In this paper, we implement the internet-based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert's knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.325-327
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• 2007

In this paper, we implement the internet- based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of- the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert's knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.312-316
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• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.210-217
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• 2010

This paper presents integrated path planning and collision avoidance for an omni-directional mobile robot. In this scheme, the autonomous mobile robot finds the shortest path by the descendent gradient of a navigation function to reach a goal. In doing so, the robot based on the proposed approach attempts to overcome some of the typical problems that may pose to the conventional robot navigation. In particular, this paper presents a set of analysis for an omni-directional mobile robot to avoid trapped situations for two representative scenarios: 1) Ushaped deep narrow obstacle and 2) narrow passage problem between two obstacles. The proposed navigation scheme eliminates the nonfeasible area for the two cases by the help of the descendent gradient of the navigation function and the characteristics of an omni-directional mobile robot. The simulation results show that the proposed navigation scheme can effectively construct a path-planning system in the capability of reaching a goal and avoiding obstacles despite possible trapped situations under uncertain world knowledge.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.278-286
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• 2008

Reliable functionalities for autonomous navigation and object recognition/handling are key technologies to service robots for executing useful services in human environments. A considerable amount of research has been conducted to make the service robot perform these operations with its own sensors, actuators and a knowledge database. With all heavy sensors, actuators and a database, the robot could have performed the given tasks in a limited environment or showed the limited capabilities in a natural environment. With the new paradigms on robot technologies, we attempted to apply smart environments technologies-such as RFID, sensor network and wireless network- to robot functionalities for executing reliable services. In this paper, we introduce concepts of proposed smart environments based robot navigation and object recognition/handling method and present results on robot services. Even though our methods are different from existing robot technologies, successful implementation result on real applications shows the effectiveness of our approaches.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1589-1592
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• 1997

Among the prerequisite abilities (perception of environment, path planning and position estimation) of an autonomous mobile robot, position estimation has been seldom studied by mobile robot researchers. In most cases, conventional positioin estimation has been performed by placing landmarks or giving the entrire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orjentaion probaility model is applied to construct a lcoal map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. Also, presented is the position estimation method that utilizes the correspondence between landmarks and current local map. In dong this, the uncertainty of the robot's current positioin is estimated in order to select the corresponding landmark stored in the previous steps. The usefulness of all these approaches are illustrated with the results porduced by a real robot equipped with ultrasonic sensors.

• Journal of Korea Multimedia Society
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• v.13 no.6
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• pp.924-932
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• 2010

This paper proposes a multi-modal complex motion authoring tool for creating robot contents. The proposed tool is user-friendly and allows general users without much knowledge about robots, including children, women and the elderly, to easily edit and modify robot contents. Furthermore, the tool uses multi-modal data including graphic motion, voice and music to simulate user-created robot contents in the 3D virtual environment. This allows the user to not only view the authoring process in real time but also transmit the final authored contents to control the robot. The validity of the proposed tool was examined based on simulations using the authored multi-modal complex motion robot contents as well as experiments of actual robot motions.

• Journal of The Korean Association of Information Education
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• v.14 no.1
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• pp.25-33
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• 2010

Teaching aids Robot Education, through early education and contests, is very commonly known to elementary school students, their parents and teacher. However, not only we do not have complete knowledge of how robot education for after school performs, but also we lack a proper management skills in educating new teachers and running a structured program. Thus, through this research, we would like to identify the problems in teacher's knowledge and how the robot education is running according to provinces, size of cities, public private school, and size of schools and provide proper and most effective way of teaching after school robot class. According to the result of this research of running 'Robot class' in different area, sub-areas and size of schools, there was a meaningful difference and the biggest problem in performance was the class organization. In addition, about the expectation through after school classes, the research showed that the teachers expect lower cost of private education and improvement in creativity the most.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.467-468
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• 2016

The importance of the recent manufacturing industry have been made to invest in a lot of assistance and human resource development at the national dimension in which to rise again. However Learned in actual school education kinetic, and the use to how product design structural knowledge, Often it feels vague unlikely whether it is possible to derive an optimal product. In this study, by using the simulation-based Jansen Mechanism designed a walking robot, after optimization of the numerical consideration when designing for optimum walking motion, through simulation through the actual production resulting numerical information is examined whether valid. In addition, through the actual production was walking robot, to verify the validity of the simulation-based design.