• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1211-1214
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• 1993

In this paper, we present a fuzzy-number-oriented methodology to model uncertain geometric robot environment and to manipulate geometric uncertainty between robot coordinate frames. We describe any geometric primitive of robot environment as a parameter vector in parameter space. Not only ill-known values of the parameterized geometric primitive but the uncertain quantities of coordinate transformation are represented by means of fuzzy numbers restricted to appropriate membership functions. For consistent interpretation about geometric primitives between different coordinate frames, we manipulate these uncertain quantities using fuzzy arithmetic.

• 한국정밀공학회지
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• 제20권9호
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• pp.77-83
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• 2003

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• 전기학회논문지
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• 제56권1호
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• pp.167-173
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• 2007

This paper describes a redundancy resolution based method for determining an optimal initial configuration of a humanoid robot for holding an object. There are three important aspects for a humanoid robot to be able to hold an object. Those three aspects are the reachability that guarantees the robot to reach the object, the stability that guarantees the robot to remain stable while moving or holding the object, and the manipulability that makes the robot manipulate the object dexterously. In this paper, a humanoid robot with 20 degrees of freedom is considered. The humanoid robot is kinematically redundant and has infinite number of solutions for the initial configuration problem. The complex three-dimensional redundancy resolution problem is divided into two simple two-dimensional redundancy resolution problems by incorporating the symmetry of the problem, robot's moving capability, and the geometrical characteristics of the given robot. An optimal solution with respect to the reachability, the stability, and the manipulability is obtained by solving these two redundancy resolution problems.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.1043-1047
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• 2013

Smart mobile robot is a kind of Intelligent Robot. It means that operates manipulate autonomously and recognize the external environment. Smart mobile robot moving mechanism has many type and the type depend on the robot shape or purpose. Recently, research on the moving mechanism has been actively in many area. The moving mechanism divided to wheel type, crawler type, walking type, other type and the moving type choose by the kind of robot or the purpose robot. In this paper, describe the kind of moving mechanism on the smart mobile robot and the technical trend of moving mechanism of smart mobile robot.

• 한국정밀공학회지
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• 제19권11호
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• pp.46-53
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• 2002

In order to overcome the conventional robot's physical limitation to frequent changes in operational requirements, it is quite appealing to modularize its system components and allow them to be combined into various configurations to best suit the needs to a particular application. Several researchers have presented the concept of modular robot. In this paper, the kinematics and dynamics of modular robot are studied, which concretes the concept of modular robot. This study includes the selection of individual module, the definition of their parameters and the development of module based manipulate. analysis software package (MBMAP).

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2705-2708
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• 2003

In this paper, we propose a method that applies matrix decomposition technique to the connection of actuator capabilities of each robot to object acceleration limits for multiple cooperative robot systems. The robot systems under consideration are composed of several robot manipulators and each robot contacts a single object to carry the object while satisfying the constraints described in kinematics as well as dynamics. By manipulating kinematic and dynamic equations of both robots and objects, we at first derive a matrix relating joint torques with object acceleration, manipulate the null space of the matrix, and then we decompose the matrix into three parts representing indeterminancy, connectivity, and redundancy. With the decomposed matrix we derive the boundaries of object accelerations from given joint actuators. To show the validity of the proposed method some examples are given in which the results can be expected by intuitive observation.

• 한국정밀공학회지
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• 제22권6호
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• 대한임베디드공학회논문지
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• 제16권1호
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• pp.29-34
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• 2021

We developed a pet care robot that can be controlled outdoors. Through the smartphone application, the pet owners can watch the situation in the house and manipulate the robot to make their pet happy. The video data in the house is transmitted to the application through the webcam installed at the house. The robot can not only perform user's command but also do six basic macro action. The obstacle avoidance function using the current sensor can be activated if the user want to use. When the robot hits to something, it moves back and rotates by arbitrary angle, and then moves forward.

• 로봇학회논문지
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• 제6권3호
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• 한국정보통신학회논문지
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• 제23권12호
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• pp.1596-1601
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• 2019

스마트 로봇게임은 근래 코딩교육 수업을 통해 시장을 확장하고 있는 새로운 형태의 하나로 기존 게임과 달리 로봇을 사용하면서도 스마트폰으로 디지털 게임을 조작한다. 특히 현실세계의 로봇과 가상세계의 게임이 동일한 룰을 통해 서로의 데이터를 주고받으며 진행되는 특징을 보인다. 본 연구는 스마트 로봇의 매체적인 특징과 놀이적 특징을 분석하고, 그 특성을 개발 요소로 활용한 스마트 로봇 보드게임 개발 사례를 제시함으로써 스마트 로봇게임 개발에서 고려해야 할 사항을 제안한다.