• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.35-41
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• 2014

This paper describes the obstacle avoidance architecture to walk safely around in factory and home environment, and presents methods for path planning and obstacle avoidance for the humanoid robot. Solving the problem of obstacle avoidance for a humanoid robot in an unstructured environment is a big challenge, because the robot can easily lose its stability or fall down if it hits or steps on an obstacle. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. A main technological target is to autonomously explore and wander around in home environments as well as to communicate with humans.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.495-500
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• 2002

Recently, a service robot industry outstands as an up and coming industry of the next generation. Specially, there are so many research in self-steering movement(SSM). In order to implement SSM, robot must effectively recognize all around, detect objects and make a surrounding map with sensors. So, many robots have a sonar and a infrared sensor, etc. But, in these sensors, We only know informations about between the robot and the object as well as resolution faculty is of inferior quality. In this paper, we will introduce new algorithm that recognizes objects around robot and makes a two dimension surrounding map with a omni-direction vision camera and two stereo vision cameras.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.2_2
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• pp.193-198
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• 2022

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.3
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• pp.341-347
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• 2022

This paper presents a comparison result of two simultaneous localization and mapping (SLAM) algorithms for navigation that have been proposed in literature. The performances of Extended Kalman Filter (EKF) SLAM under Gaussian condition, FastSLAM algorithms using Rao-Blackwellised method for particle filtering are compared in terms of accuracy of state estimations for localization of a robot and mapping of its environment. The algorithms were run using the same type of robot on indoor environment. The results show that the Particle filter based FastSLAM has the better performance in terms of accuracy of localization and mapping. The experimental results are discussed and compared.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.6_2
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• pp.953-959
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• 2021

In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.05a
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• pp.221-222
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• 2023

The purpose of this study is to analyze the applicability and limitations of SPOT robots in the construction industry. The SPOT robot, which is being introduced to construction sites for smart construction with the progress of the 4th industrial revolution, is shaped like a four-legged dog and is equipped with various sensors for data collection and autonomous driving. In this study, hardware and software were analyzed, such as the size of the SPOT robot, mobility on slopes and heights, operating environment, and software functions that can collect data with a sensor weighing up to 14 kg. In addition, while the SPOT robot operates in a construction environment, performance such as stability, accuracy, signal connection distance, and obstacle avoidance are evaluated, and the applicability and limitations of the SPOT robot in the construction industry are analyzed. Based on this analysis, the purpose of this study is to evaluate when and how SPOT robots can be effectively used at construction sites, identify limitations, and derive contributions and improvements for the construction industry.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.3
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• pp.117-123
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• 2018

Continued R&D investment by the government and corporate support played a major role as the background of the rapid growth of the Republic of Korea. In 2017 of the Republic of Korea, the R&D support size of the government accounted for 19.7 trillion won, accounting for 4.7% of the government budget. Government R&D budgets are increasing by 2.5% each year. In this paper, we analyzed the outcomes of the Busan regional company support project conducted in the 2 years. For the time series analysis, we gathered company support amount by year, sales after company support, employment. We used IBM SPSS(Statistical Package for the Social Sciences) statistics 18 for correlation analysis.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.8
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• pp.2126-2133
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• 2009

As expected that a robot-industry will grow up rapidly toward a huge market, many countries try to develop the official policies to support a robot-industry. Following this trend, many robot researches are proceeded in the various technical areas by the government-initiated R&D strategies in Korea. These R&D programs are archived by academic-industrial collaboration and furthermore, include the disseminated linkage of academic-industrial collaboration and the human resource development program which pursues the problem solving and technical training for companies suffered by several technical difficulties. This paper shows the several analyses and considerations of provisional results of these collaboration programs. First, each program of specialized plan for next generation is reviewed and the accomplishment of human resource development for robot research is evaluated. Finally, several considerations are represented for continuous and desirable expansion of these programs.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.2_2
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• pp.233-244
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• 2020

A double-parked car is the one that is parked in a crowded parking lot with its transmission gear in neutral position and its auxiliary brake released. A double-parked car can be moved by pushing it but doing so is very difficult and dangerous. In a previous study, we proposed an omni-directional mobile robot for moving a double parked car. In that study we adopted Mecanum wheels. Even though the proposed robot showed successful results, it has some drawbacks such as dependency on a load condition, complexity in control, inefficiency in power use, etc. To overcome those drawbacks, we propose a differential drive robot with ordinary two tire wheels. The proposed robot consists of two parts, one is a wheel part and the other is a body part. By selectively connecting or disconnecting those two parts with the aid of an electric brake, the proposed robot is able to have omni-directional mobility.