• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• Journal of The Korean Association of Information Education
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• v.12 no.4
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• pp.469-476
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• 2008

To enhance the educational effect of Multi-Joint Robot have to easily develop motion through the control software. The traditional way of development technique for multi-joint robot is educated with very complicated implementation, but our motion creation tool can be possible to do the creative activity for controling robot movements with ease. This paper mentions to develop the motion creation tool for easily and quickly programming the motion control of multi-joint robot on the educational program. With this tool we easily and exactly provide the education of robot program. In this paper, our suggested tool could not only evade the traditional way of a complicated control program using programming languages but also control easier the robot than the GUI(Graphic User Interface) programming centered on the user's convenience. Additionally, the robot motion's implementation is possible applied with microprocessor experimental equipment educationally to practical use.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.573-579
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• 2008

This paper introduces a new approach to develop a fast gait for quadruped robot using GP(genetic programming). Planning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Several recent approaches have focused on using GA(genetic algorithm) to generate gait automatically and shown significant improvement over previous results. Most of current GA based approaches used pre-selected parameters, but it is difficult to select the appropriate parameters for the optimization of gait. To overcome these problems, we proposed an efficient approach which optimizes joint angle trajectories using genetic programming. Our GP based method has obtained much better results than GA based approaches for experiments of Sony AIBO ERS-7 in Webots environment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.398-403
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.19-25
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• 2001

In this paper, we developed a Windows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. 4 axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinemat-ics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 98s GUI environment was also studied. The developing is Microsoft Visual C++. Graphic libraries, OpernGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.692-697
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• 1997

This paper presents a method of grinding and polishing automation of precision die after CNC machining. The method employs a robot system equipped with a pneumatic spindle and a special abrasive film pad. The robote program is automatically generated off-line from a PC and downloaded to robot controller. Position and orientation data for the program is supplied from cutter contact (CC) data of NC machining process. This eliminates separate robot teaching process. This paper aims at practical automation of die finishing process which is very time consuming and suffering from shortage of workpeople. Time loss for changeover from one product to next is eliminated by off-line programming exploiting appropriate NC machining data. Dextrous 6-axis robot with rigid wrist and simple tooling enables the process applicable to larger, rather complex 3 dimensional free surfaces

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1040-1046
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• 2015

This paper introduces GP(Genetic Programming) based color detection model for an object detection of humanoid robot vision. Existing color detection methods have used linear/nonlinear transformation of RGB color-model. However, most of cases have difficulties to classify colors satisfactory because of interference of among color channels and susceptibility for illumination variation. Especially, they are outstanding in degraded images from robot vision. To solve these problems, we propose illumination robust and non-parametric multi-colors detection model using evolution of GP. The proposed method is compared to the existing color-models for various environments in robot vision for real humanoid Nao.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.188-193
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• 2000

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95' graphic user interface i\environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, y Silicon Graphics, Inc. were utilized for 3D graphics.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.11 no.3
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• pp.21-27
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 ares SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.11a
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• pp.259-262
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• 1997

This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.