• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1196-1204
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• 2001

In this paper, a new architecture of operating software associated with the component-based method is proposed. The proposed architecture comprises 문 execution module and a decision-making module. In order to make effective development and maintenance, the execution module is divided into three components. The components are referred to as Symbol, Gateway, and Control, respectively: The symbol component is for the GUI environments and the standard interfaces; the gateway component is for the network communication and the structure of asynchronous processes; the control component is for the asynchronous processing and machine setting or operations. In order to verify the proposed architecture, and off-line version of operating software is made, and its steps are as follows; I) Make virtual execution modules for the manufacturing devices such as dual-arm robot, handling robot, CNC, and sensor; ii) Make decision-making module; iii) Integrate the modules and GUI using a well-known development tools such as Microsofts Visual Basic; iv) Execute the overall operating software to validate the proposed architecture. The proposed software architecture in this paper has the advantages such as independent development of each module, easy development of network communication, and distributed processing of resources, and so on.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.297-299
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• 2006

Many distributed applications is developed in various environment such as operating system, software platform. So, they exhibit different types of system behavior, status, during the course of their operation. Each such behavior may have different functional and non-functional requirements. Therefore, many distributed application need to fault-tolerance solution. Personal robot provide various service or application. Because personal robot has many application or service, it need to fault-tolerance architecture. A flexible architecture is required to provide dependability. In this paper, it is suggested a fault-tolerant architecture for module-based personal robot with module fault-tolerance, service fault-tolerance.

• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.1-6
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• 2010

For the personal robot to serve humans as a companion in our daily life, it is obviously important that the robot should have a long-term relationship to users. In this paper, we introduce a simple idea on how to make the long-term relationship by using just low-cost and simple robots. We also describe the robotic artificial creature system to implement this idea. The artificial creature robots respond not only physical environment changes but also the logical information changes in the virtual world such as the Web. They consist of a control robot and several simple robots, which show users various group behaviors. Users have a relationship with them by observing these behaviors, rather than interacting with them. We separate physical robots and software applications in order that artificial creature robots can have more various behaviors made by various software applications. Finally, we implemented the system using a robot simulator to show some example cases.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.415-425
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• 2000

An open architecture manufacturing strategy intends to integrate manufacturing components on a single platform so that a particular component can be easily added and/or replaced. Therefore, the control scheme based upon the open architecture concept is hardware-independent. In this paper, a modular and object oriented approach for a PC-based open robot control system is investigated. A standard reference model for robot systems, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then, a PC-based Open Robot Controller(PC-ORC), which can reconfigure robot control systems in various production environments, is developed. The PC-ORC is built upon the object-oriented method, and allows an easy implementation and modification of various modules. The PC-ORC consists of basic softwares, application objects, and additional hardware device on the PC Platform. The application objects are: sequencer, computation unit, servo control, ancillary equipment, external sensor control, and so on. In order to demonstrate the applicability of the PC-ORC, the proposed PC-ORC configuration is applied to an industrial SCARA robot system.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1201-1206
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• 2007

Robot simulation technique is essential not only for robot developers to design robotic systems but also for robot operators to predict robot motion, configure system layout, and increase robot ability. However, commercial robot simulation software such as ROBCAD, IGRIP, and so on are expensive and sometimes they are difficult to customize into industrial purpose programming for users. Therefore, user-based simulation programming is required to magnify the efficiency of robot system. In this paper, we show the methodology of developing user-based robot simulation programming using PC(personal computer), Open-Inventor, and Windows Programming. The developed programming has been successfully applied to welding robot systems of a shipbuilding industry. Also, the methodology presented here can be easily extended to simulate manipulators of other typed mechanism on user's PC.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.593-594
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.2-117
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• 2002

In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design cent...

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2410-2414
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• 2002

In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design center platform as proposed in this paper with its implementation mechanisms. The personal robot design center is defined as a developing and a managing environment for high-level behavior modules, distributed tasks, and mission scenarios.