• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.712-715
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• 1999

The goal of this paper is to provide a Graphic man-machine interface that can be used to control multiple robots simultaneously. The proposed GUI scheme gave emphasis on making multiple robots Perform the cooperative works, maintaining a given formation. It controls multiple robots in two different modes. : a group mode and a individual mode. In the group mode, a common goal position and formation are delivered to individual robots at the same time, and in the individual mode one robot is selected. o increase the efficiency of the interface, a time scheduler is provided. The experimental results are included.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.243-248
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• 2002

In this paper, mobility of planar mobile robots is discussed. Firstly, simplified joint models for four typical wheels of the mobile robots are described including both rotational and translational friction parameters. Then, based on these joint models and through the inclusion of the additional imaginary joint particularly to the mobile robots which lack geometric generality, mobility analysis of various types of planar mobile robots is performed.

• 스마트미디어저널
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• 제5권4호
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• pp.111-115
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• 2016

Intelligent robots are being introduced and utilized to create new values in diverse fields such as medical care, national defense, education, and manufacturing. However, while the technical aspects of intelligent robots are spreading, the business side is lacking in recognition. The purpose of this study is to identify the factors affecting product innovation through the introduction of intelligent robots in enterprises. Among the six variables secured from the technology, organization, and environment framework, only perceived direct usefulness and competitive pressure have significant effects on product innovation. The results imply that the effects of introducing robots are still in their early stage from a business perspective.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권2호
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• pp.124-130
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• 2005

Obstacle avoidance of underwater robots based on a modified virtual force field algorithm is proposed in this paper. The VFF(Virtual Force Field) algorithm, which is widely used in the field of mobile robots, is modified for application to the obstacle avoidance of underwater robots. This Modified Virtual Force Field(MVFF) algorithm using the fuzzy lgoc can be used in moving obstacles avoidance. A fuzzy algorithm is devised to handle various situations which can be faced during autonomous navigation of underwater robots. The proposed obstacle avoidance algorithm has ability to handle multiple moving obstacles. Results of simulation show that the proposed algorithm can be efficiently applied to obstacle avoidance of the underwater robots.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권3호
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• pp.185-190
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• 2002

In distributed autonomous robotic systems (DARS), each robot must behave by itself according to its states ad environments, and if necessary, must cooperate with other robots in order to carry out their given tasks. Its most significant merit is that they determine their behavior independently, and cooperate with other robots in order to perform the given tasks. Especially, in DARS, it is essential for each robot to have evolution ability in order to increase the performance of system. In this paper, a schema co-evolutionary algorithm is proposed for the evolution of collective autonomous mobile robots. Each robot exchanges the information, chromosome used in this algorithm, through communication with other robots. Each robot diffuses its chromosome to two or more robots, receives other robot's chromosome and creates new species. Therefore if one robot receives another robot's chromosome, the robot creates new chromosome. We verify the effectiveness of the proposed algorithm by applying it to cooperative search problem.

• International Journal of CAD/CAM
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• 제9권1호
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• pp.85-91
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• 2010

In this paper, we demonstrate an autonomous design of motion control of virtual creatures (called animated robots in this paper) and develop modeling software for animated robots. An animated robot can behave autonomously by using its own sensors and controllers on three-dimensional physically modeled environment. The developed software can enable us to execute the simulation of animated robots on physical environment at any time during the modeling process. In order to simulate more realistic world, an approximate fluid environment model with low computational costs is presented. It is shown that a combinatorial use of neural network implementation for controllers and the genetic algorithm (GA) or the particle swarm optimization (PSO) is effective for emerging more realistic autonomous behaviours of animated robots.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• 제어로봇시스템학회논문지
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• 제7권3호
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• pp.255-262
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• 2001

According to the advancement of web related technologies, many works on robots using these technologies, called web-based robots enables sharing of expensive equipments as well as control of remote robots. But none of the existing methods about web-based robots in-clude robot simulators in their web browser, which transfer appropriate information of a remote place to the local users. In this paper, a web-based robot simulator is proposed and developed to control a remote robot by using the web. The proposed simulator can transfer the 3D information about the remote robot to the local users by using 3D graphics, which has not been previously developed. Also, it sends the camera image of a remote place to the local users so that the users can use this camera image as well as 3D information in order to control the remote robot.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.273-283
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• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.

• 대한임베디드공학회논문지
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• 제4권1호
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• pp.9-15
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• 2009

In this paper, a network based robot soccer system is proposed. The system consists of robots, an image processing sub-system, a game server, and client systems. Embedded technique is applied to the hardware and software for controlling the robots and image processing. In this robot soccer system, a gamer can see and control robots in a remote site through Internet. During the game, the game server gives geometrical information on robots such as positions and orientations. We demonstrated the game in public and obtained optimistic results even though some technical problemssuch as communication delay and precise control for the robots should be improved.