• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1264-1270
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• 2004

In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.4
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• pp.400-410
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• 1992

This paper deals with a design of neural network control architectures for robot motion. Three types of control architectures are designed as follows : 1) a neural network control architecture which has the same characteristics as computed torque method 2) a neural network control architecture for compensating the control error on computed torque method with fixed feedback gain 3) neural network adaptive control architecture. Computer simulation of PUMA manipulator with 6 links is conducted for robot motion in order to examine the proposed neural network control architectures.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.5
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• pp.27-34
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• 2005

To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.

• Journal of Ocean Engineering and Technology
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• v.33 no.6
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• pp.620-626
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• 2019

With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.45-45
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• 2000

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.154-160
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• 2006

Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.540-544
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• 2001

This paper addresses a hybrid control architecture for the hospital service robot, SmartHelper. In hybrid architecture, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the hybrid architecture is verified.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.248-255
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• 2013

This paper proposes the architecture of the RILS (Robot-in-the-Loop-Simulation) consisting of the robot, the virtual robot, and the avatar robot which is the type of virtual robots operating according to the robot status and behavior. And the synchronization algorithm for mobilization part of the avatar robot is suggested, which reduces the difference between behaviors of the robot and those of the avatar robot. This difference occurs due to the environmental and mechanical mismatches between the robot and avatar robot. In order to reduce this difference in robots behaviors, the synchronization algorithm controls the avatar robot based on the data observed from the robot's behavior. The proposed architecture and the synchronization algorithm are validated from some simulation results.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.77-79
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• 2004

Because robot hardware architecture generally is consisted of a few sensors and motors connected to the central processing unit, this type of structure is led to time consuming and unreliable system. For analysis, one of the fundamental difficulties in real-time system is how to be bounded the time behavior of the system. When a distributed control network controls the robot, with a central computing hub that sets the goals for the robot, processes the sensor information and provides coordination targets for the joints. If the distributed system supposed to be connected to a control network, the joints have their own control processors that act in groups to maintain global stability, while also operating individually to provide local motor control. We try to analyze the architecture of network-based humanoid robot's leg part and deal with its application using the CAN(Controller Area Network) protocol.