• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.121-127
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• 2015

In this paper, we propose S/W framework for health care robot based on OSGI middleware. Most healthcare robot developed independently. Therefore most module duplicately developed. However It's not efficient. In this paper we propose S/W framework for healthcare robot that can provide common module for health care robot and can apply heterogeneous robot. By using this S/W framework, we can enhance reusability of s/w module and can provide flexible and efficient development environment.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.669-677
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• 2005

This acticle describes the control method of mobile robots for avoiding slip and turnover on sloped terrain. An inexpensive gyro/vision sensor module is suggested for obtaining the information of terrain at present and future. Using the terrain information and the robot state, the maximum limit velocity of the forward velocity of the robot is defined fur avoiding slip and turnover of the robot. Simultaneously the maximum value of the robot velocity is reflected to an operator in the form of reflective force on a forte feedback joystick. Consequently the operator can recognize the maximum velocity of the robot determined by the terrain information and the robot state. In this point of view, the inconsistency of the robot movement and the user's command caused by the limit velocity of the robot can be compensated by the reflective force. The experimenal results show the effectiveness of the suggested method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.289-290
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• 2021

Recently, with the advent of the 4th industrial revolution, the role of robots is increasing, and the use of robots is also increasing in the service field. The most popular model for nonlinear research related to robots is the inverted pendulum system. A balancing robot using an inverted pendulum system is a representative nonlinear system and is mainly used to study control theory and other kinematic structures. In this paper, the state of the robot is measured using the 3-axis acceleration sensor (ADXL345) and 3-axis digital output gyro sensor (ITG-3200) or HMC5883L required for balancing robot control, and using the ESP32-WROOM-32 module. I want to design an MCU module that can control a balancing robot. In addition, by using the ESP32-WROOM-32 MCU module, we intend to design an MCU module that can monitor the state of the balancing robot based on WiFi or Bluetooth.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.383-386
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• 1986

In this paper, ultrasonic range finding module for the self-contained robot, INHAE-1, is presented. This system is processed, using Z-80 microprocessor, a much of information on the surrounding condition in real time and is realted a sensor for many side data acqusition with a stepping motor. Also this system can obtain the more correct edge of the obstacle using the standard deviation of the least-square method. In this experiment, it gives more correct information to mobile robot of the blind guidance and improves the orientation of the robot path.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.418-420
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• 2005

This paper proposed ultrasonic distance measurement module development for correct distance detection with collision escaping or obstacle of mobile robot is traveling self-regulation. Representative ultrasonic module applied in existing was Polaroid company's 6500 series and Devantech company's SRF04/SRF08 series. This ultrasonic sensors are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. Therefore Ultrasonic distance detecting means of error compensation method and high definition, narrow beam angle, board area distance detecting means to apply to ultrasonic mobile robot control urgently need. In this paper use internal type temperature compensation method to improve problem of ultrasonic distance measurement method instead of that volume that have shortcoming of used correct temperature compensation methods applied big addition device. Compensate error by environment change of temperature. Humidity density etc. and is applicable to mobile robot offering various interface and real-time processing developed possible distance measurement module.

• Journal of Biosystems Engineering
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• v.30 no.3 s.110
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• pp.179-184
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• 2005

The purpose of this study was the development of teat-cup attachment module for robot milking system. The teat-cups attachment module was controlled on the two dimensional space independently, Each teat cup of an end effector was independently controlled via two axis control based on the position information data obtained from the image processing system. This system was developed install of all 4 teat cups at the same time after adjusting positions of each teat sequentially. The individual motion system was operated using two servo motors for the high speed of teat position adjustment. The errors fur the individual motion system of teat cups were maximum 1.0mm, minimum 0.0mm, and average 0.6mm. The operating time for adjusting the teat cups position required about 1.0 second. It is envisaged that teat cups attachment module can be applicate to milking robot being developed in consideration of the experiment results for the teat cups operation accuracy and the actuation speed of servo motors.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• Advances in robotics research
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• v.1 no.1
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• pp.101-126
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• 2014

In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.578-588
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• 2005

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of dielectric elastomer, it is possible to actuate the covering skin, eyes as well as provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven actuator modules such eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. In the robot, each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.177-181
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• 2001

This paper presents an strategy algorithm of a soccer robot. We simply classified strategy of soccer robot as attack and defense. We use DC-motor in our Soccer Robot. We use the vision system made by MIRO team of Kaist and Soty team for image processing. Host computer is made by Pentium III. The RF module is used for the communication between each robot and the host computer. Fuzzy logic is applied to the path planning of our robot. We improve strategy algorithm of soccer robot. Here we explain improvement of strategy algorithm and fault of the our soccer robot system.