• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1024-1027
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• 2005

This paper describes the performance index of mobile robot and development of testbed which is used to evaluate the index. The developed testbed has rectangular structure similar to a living room of home. It is semi-automation testbed system for evaluation of cleaning performance index. This system is composed with scattering and cleaning equipment of test materials, equipment rifting of objects in inner space and sides itself, vision processing system. To be consistent of performance evaluation of cleaning robot, we make use of camera in this system for the sake of measurement of robot s mobility, path and suction quantity.

• 로봇학회논문지
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• 제8권2호
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• pp.116-128
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• 2013

This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.109-111
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• 2009

In this paper, we discuss how to design 2-wheeled mobile robot hard wares as reasonable and practical as possible. A segway type mobile robot consists of 2 wheels only, placed in parallel rather than horizon. 2-wheeled mobile robots make you overcome high cost and time consuming maintenance procedures of the robot by reducing the number of robot hardwares. The most challenging thing in a 2-wheeled mobile robot that has many more valid virtues than the traditional mobile robots is to make it balance itself whenever it stands still or goes forward. But balancing itself is not an easy matter and there are many researches and experiments on this issue. When researchers test theories on 2-wheeled mobile robots to improve its self balancing performance, they should consider how to design hard wares of that mobile robot. No matter how great those new theories are, if a testbed for those theories is not suitable, performance output would be poor and meaningless. In this point of view, to design a proper 2-wheeled mobile robot as a testbed is a very important issue with development of new theories. So we define 4 guide lines to design segway type mobile robots reasonably; about motor, battery, and MCU selection and shock-proof design with robust motor setting.

• 한국군사과학기술학회지
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• 제18권3호
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• pp.309-315
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• 2015

This paper presents a lower-limb exoskeleton testbed and its control method. An exoskeleton is a wearable robotic system that can enhance wearer's muscle power or assist human's movements. Among a variety of its applications, especially for military purpose, a wearable robot can be very useful for carrying heavy loads during locomotion by augmenting soldiers' mobility and endurance. The locomotion test on a treadmill was performed up to maximum 4km/h walking speed wearing the lower-limb exoskeleton testbed with a 45kg backpack load.

• 정보처리학회 논문지
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• 제13권6호
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• pp.243-250
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• 2024

생체모방로봇은 조류나 곤충과 같은 생체의 특성을 모방하여 미래 전장에서 은밀한 감시와 정찰 작업에 큰 역할을 할 것으로 기대된다. 이 로봇들의 효과적인 활용을 위해서는 새의 날갯짓이나 바퀴벌레의 움직임 등을 모방하는 기술이 중요하지만, 이를 지원하는 하드웨어 확보와 소프트웨어 개발 및 검증 과정의 복잡성으로 인해 어려움이 따른다. 본 논문에서는 모델링 및 시뮬레이션(M&S) 기술을 적용한 다중 HILS 기반 생체모방로봇 소프트웨어 검증 테스트베드를 설계하고 구현한 결과를 소개한다. 테스트베드를 사용함으로써 개발자들은 하드웨어 부재 문제를 극복하고, 미래 전장 시나리오를 시뮬레이션하며 소프트웨어 개발과 테스트를 수행할 수 있다. 그러나, 다중 HILS 기반 테스트베드는 테스트 대상 로봇 수의 증가에 따른 장치 간 연동 지연 문제를 경험할 수 있으며, 이는 시뮬레이션 결과의 신뢰도에 크게 영향을 미칠 수 있다. 이를 해결하기 위해, 우리는 우선순위 기반 미들웨어인 data distribution service prority (DDSP)를 추가로 제안한다. DDSP는 기존 DDS 대비 1.95 ms의 평균 지연 감소 효과를 보이며, 테스트베드에서 요구되는 데이터 전송 품질을 보장할 수 있음을 입증하였다.

• 한국산학기술학회논문지
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• 제12권1호
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• pp.445-450
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• 2011

본 논문은 무선센서 네트워크의 테스트 베드 구축에 관한 것이다. 웹 인터페이스를 갖는 센서 네트워크 게이트웨이를 개발하고 센서노드 탑재용으로 수집 소스 데이터의 전송과 게이트웨이로 부터의 명령을 멀티 홉 루트로 전송이 가능한 기존의 Surge 프로그램을 개선하여 한번에 전송할 수 있는 데이터의 크기를 증가시키고 전송경로를 수집토록 개선하였다. 개발된 테스트 베드를 통하여 센서필드내 데이터의 수집과 특정 센서노드로의 명령전달이 가능하며 토폴로지 뷰어를 통하여 특정 센서노드로 부터 싱크까지의 데이터 전송경로와 센서노드간 상대적인 위치파악도 가능하다. 마지막으로 본 테스트베드를 활용한 원격 로봇 제어에 관하여 기술하였다.

• Journal of Mechanical Science and Technology
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• 제17권2호
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• pp.230-238
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• 2003

In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand 1, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1110-1115
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• 2004

Water covers two-thirds of the earth and has a great influence on the future existence of all human being. Thailand has extensive coastline and near shore water that contain vast biological and mineralogical resources. The rivers and canals can be found around the country especially in the Bangkok, which once called the Venice of the East. Autonomous underwater robot (AUR) will be soon a tool to help us better understand water resources and other environmental issues. This paper presents the design and basic control of a six-degree of freedom AUR "Chalawan", which was constructed to be used as a testbed for shallow. It is a simple low cost open-frame design, which can be modified easily to supports various research areas in the underwater environment. It was tested with a conventional proportional-integral-derivative (PID) controller. After fine-tuning of the controller gains, the results showed the controller's good performances. In the future, the dynamic model of the robot will be analyzed and identified. The advanced control algorithm will be implemented based on the obtained model.

• 한국산업정보학회논문지
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• 제24권5호
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• pp.121-127
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• 2019

본 논문에서는 물류창고, 제조업, 협업 로봇 등 다양한 애플리케이션에 활용되고 있는 비홀로노믹 제약을 가진 차동 바퀴형 모바일 로봇의 용이한 운용을 위한 로컬 속도 생성 제어 알고리즘을 제안한다. 기존의 차동 바퀴형 모바일 로봇 운용 방법은 운용자가 자신의 좌표계가 아닌 로봇의 좌표계를 기준으로 인지하고 로봇의 속도를 직접 생성해야 하였으며, 이로 인해 운용의 직관성이 낮아지고 업무의 효율 저하 및 사고 발생률이 증가하게 된다. 본 연구에서는 이를 개선하여 운용자가 자신의 좌표계를 기준으로 로봇을 운용할 수 있도록 한다. 제안하는 알고리즘은 실제 차동 바퀴형 모바일 로봇을 활용한 실험을 통하여 알고리즘의 효용성을 검증한다.

• 로봇학회논문지
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• 제9권1호
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.