• Title/Summary/Keyword: Small robot

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Perception of small-obstacles using ultrasonic sensors and its avoidance method in robot (초음파센서를 이용한 로봇의 소형장애물 감지 및 회피방법연구)

  • Kim, Gab-Soon
    • Journal of Sensor Science and Technology
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    • v.14 no.2
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    • pp.101-108
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    • 2005
  • The research on the avoidance of the large-obstacles such as a wall, a large box, etc. using ultrasonic sensors has been generally progressed up to now. But the mobile robot could meet a small-obstacle such as a small plastic bottle, a small sphere, and so on in its designated path, and could be disturbed by them in the locomotion of the mobile robot. So, it is necessary to research on the avoidance of a small-obstacle. In this paper, a robot's small-obstacle perceiving system was designed and fabricated by arranging four ultrasonic sensors on the plastic plate to avoid small-obstacles. The system was installed on the upper part of the mobile robot with the slope angles between $40.7^{\circ}$ and $23.3^{\circ}$ to a horizontal line and the dynamic characteristic test of the robot was performed. As the result, it was confirmed that the mobile robot with the system could avoid small-obstacles in indoor environment safely.

Perception of small-obstacle using ultrasonic sensors for a mobile robot (이동로봇을 위한 초음파센서를 이용한 소형장해물 감지)

  • 김갑순
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.21-24
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    • 2004
  • This paper describes a perception of small-obstacle using ultrasonic sensors in a mobile robot. The research on the avoidance of the large-obstacles such as a wall, a large box, etc. using ultrasonic sensors has been generally progressed up to now. But the mobile robot could meet a small-obstacle such as a small plastic bottle of about 1 l in quantity, a small box of 7${\times}$7${\times}$7 cm3 in volume, and so on in its designated path, and could be disturbed by them in the locomotion of the mobile robot. So, it is necessary to research on the avoidance of a small-obstacle. In this paper, the small-obstacle perceiving system was designed and fabricated by arranging four ultrasonic sensors on the plastic plate to avoid a small-obstacle. The small-obstacle perceiving system was installed on the above part of the mobile robot with the slope of 40.7$^{\circ}$ to a horizontal line. The static characteristic test and the dynamic characteristic test were performed to know the information of the used ultrasonic sensors. As a result, the mobile robot with the small-obstacle perceiving system could avoid a small-obstacle, and could move in indoor environment safely.

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Recognition method of small-obstacles using a camera for a mobile robot (이동로봇을 위한 카메라 1대를 이용한 소형 장애물 인식방법에 관한 연구)

  • Kim Gab-Soon
    • Journal of the Korean Society for Precision Engineering
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    • v.22 no.9 s.174
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    • pp.85-92
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    • 2005
  • This paper describes the recognition method of small-obstacles using a camera for a mobile robot in indoor environment. The technique of image processing using a camera has been widely used for an automaton of industrial system, an inspection of inferior goods, a lookout of an invader, and a vision sensor of intelligent robot. Mobile robot could meet small-obstacles such as a small plastic bottle of about 0.5 l in quantity, a small box of $7{\times}7{\times}7cm^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the recognition of small-obstacles using a camera and program. In this paper, 2-D image processing algorism and method fur recognition of small-obstacles using a camera for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could judge the size and the position of small-obstacles accurately.

Recognition of small-obstacles using a camera and program for a mobile (이동로봇을 위한 카메라를 이용한 소형 장해물 인식)

  • 김갑순
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.463-466
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    • 2004
  • This paper describes an image processing algorithm for recognition of small-obstacles using a camera and program for a mobile robot in indoor environment. Mobile robot could meet small-obstacles such as a small plastic bottle of about 1l in quantity, a small box of 7$\times$7$\times$7 cm$^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the image processing algorithm for recognition of small-obstacles using a camera and program. In this paper, 2-D the image processing algorithm for recognition of small-obstacles using a camera and program for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could recognize small-obstacles accurately.

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A Small Humanoid Robot that can Play Golf (소형 인간형 로봇의 골프하기)

  • Kim, Jong-Woo;Cha, Chul;Cho, Dong-Kwon;Sung, Young-Whee
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.56 no.2
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    • pp.374-382
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    • 2007
  • Robot mobility and intelligence become more important for robots to be used in various fields other than automation. The main purpose of providing mobility to a robot is to extend the robot's manipulability. In this paper, we introduce a small humanoid robot that can autonomously play golf as an example of incorporating robot intelligence, mobility, and manipulability. The robot has 12 degrees of freedom for legs and has various basic walking patterns. It can move to a desired position and change orientation by combining the basic waking patterns. The robot has a color CCD camera and can extract coordinates of the objects in the environments. The small humanoid robot has 8 degrees of freedom for arms and can play golf autonomously with two kinds of dexterous swing motions. Kinematic analysis of the robot arms, vision data processing for the recognition of the environments, algorithm for playing robotic golf have been performed or proposed. The experimental results show that the robot can play golf autonomously.

Design and Analysis of Leg Linkage of Small-scale Insect-inspired Ground Mobile Robot (소형 곤충형 지상 이동 로봇 주행 메커니즘의 다리 기구 설계 및 분석)

  • Sojung Yim;Seongjun Lee;Sang-Min Baek;Seokhaeng Huh;Jaekwan Ryu;Kyu-Jin Cho
    • The Journal of Korea Robotics Society
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    • v.18 no.3
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    • pp.285-292
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    • 2023
  • Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

Development of moving algorithm about concrete floor finishing robot with two trowels (2-트로웰 방식 소형 미장로봇의 주행 알고리즘 개발)

  • 우광식;이호길;강민성;송재복
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.614-617
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    • 2004
  • The construction industry is typical of the ' job of 3D ', the automated construction equipments are getting used in the domestic construction sites and the construction robots began to be sold in the abroad. The research developed the small sized robot which could be used at the apartments and the office buildings with the small floors. But the past finishing robot could not be operated easily, it had expensive controller which could not increase the production of robot. In this paper, user interface is made to operate easily the small concrete floor finishing robot with two trowel which has low cost controller, motion algorithm including modeling and mechanism about the concrete finishing robot is developed to control moving. Simulation and experiment figure out how the finishing robot moves and will contribute to realizing it.lizing it.

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Design of Small Scale Quadruped Walking Robot and Realiazion of Static Gait (소형사각 보행로보트의 제작과 정적걸음새의 구현)

  • 배건우
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1996.04a
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    • pp.398-402
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    • 1996
  • This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

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Development of Jumping Mechanism for Small Reconnaissance Robot (소형 정찰 로봇의 도약 메커니즘 개발)

  • Tae, Won-Seok;Kim, Soo-Hyun;Kwak, Yoon-Keun
    • Journal of the Korea Institute of Military Science and Technology
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    • v.12 no.5
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    • pp.563-570
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    • 2009
  • In the future, most military activities will be replaced by robots. Because of many dangerous factors in battlefield, reconnaissance should be performed by robot. Reconnaissance robot should be small for not being detected, be light and simple structure for personal portability and overcome unexpected rough terrain for mission completion. In case of small and light robot, it can't get enough friction force for movement. Therefore small reconnaissance robot need jumping function for movement. In this paper we proposed a biologically inspired jumping mechanism. And we adjusted moment and jumping angle by using four bar linkage, especially varying coupler length.