• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1480-1484
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• 2004

In this paper, a self-propulsive and small concrete floor finishing trowel robot with twin trowels is proposed. Due to the small size and omni-directional moving capability, it is adequate for small space such as apartment. By adjusting the posture of trowels, it can move in any direction without wheels. We used cheap PIC processor for the cost saving design of the modules and adopted mode processors for easy operation of control stick. For the position control of the robot, we made a motion control algorithm appealing to the stepping motor driver module and the wireless communication module between the robot and PC (or control stick). In this paper, we discuss the control problem of the floor finishing robot in order to move to the right position. By comparing experimental result with simulation, we show the validity of the robot mechanism, sensors, and the control system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.8
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• pp.633-641
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• 2008

Recently, the necessity for diagnosis and management of pipes has emerged as the issue due to contamination of water supply generated by corrosion of pipes. Although inspection has been performed with industrial endoscopes, the method has limits for full diagnosis of pipes due to the lack of working range. As a solution for this problem, many locomotive mechanisms for a micro robot with endoscope functions were proposed. In this paper, we analyze the locomotive mechanism of crawling robot proposed as locomotive device for pipe inspection. Based on a mechanical modeling of motor and micro robot inside small pipe, the theoretical formula for velocity is obtained. This derived theoretical formula is demonstrated the feasibility through the comparison with experimental result. Also, we could find the most important element influencing the moving velocity of micro robot when the robot operates in small pipe. Consequently, it is expected that this study can supply useful information to design of crawling robot to move in small pipe.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.53-57
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• 2024

A hopping robot can move through a confined environment while overcoming obstacles. To create a small hopping robot, it must be able to generate a large amount of energy and release it at the same time. However, due to the small size of the robot, there is a limit to the size of the actuator that can be used, so it is mainly used to collect energy in an elastic element and release it at once. In this paper, we propose a small hopping robot with a simplified design by removing ancillary parts and enabling continuous hopping using only a small actuator based on a direct-drive method. In addition, repeated actuation over the rated voltage can cause thermal breakdown of the actuator. To check the safety of the actuator at high voltage, we perform modeling to predict the temperature of the actuator and verify the accuracy of the modeling through experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1267-1271
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• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1108-1114
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• 2009

Mobility is one of the most important features for a guard robot since it should be operated in rough places. A wheel-based mobile robot capable of jumping is an appropriate structure for a guard robot because it can easily satisfy the requirements for small guard robots. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes a small robot equipped with the jumping mechanism based on the conical spring with the variable length endtip. The variable length endtip enables the independent control of the jump force and jump angle which are related to the jump height and jump distance, respectively. Various experiments demonstrated that the proposed jumping mechanism can provide the independent control of jump force and jump angle, and improve the mobility of a small robot to overcome an obstacle. Furthermore, a combination of the jumping mechanism and the PSD sensor to measure the distance to the step enable the jumping robot to autonomously climb stairs.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.592-598
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• 2013

In this paper, a small, lightweight smartphone-controlled riding robot is developed. Also, in this study, a smartphone with a jog shuttle mode for consideration of user convenience is proposed to make a small, lightweight riding robot. As well, a compass sensor is used to compensate for the mechanical characteristics of motors mounted on the riding robot. The riding robot is controlled by the interface of a drag-based jog shuttle in the smartphone, instead of a mechanical controller. For a personal riding robot, if the smartphone is used as a controller instead of a handle or a pole, it reduces its size, weight, and cost to a great extent. Thus, the riding robot can be used in indoor spaces such as offices for moving or a train or bus station and an airport for scouting, or hospital for disabilities. Experimental results show that the riding robot is easily and conveniently controlled by the proposed smartphone interface based on Android.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1195-1200
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• 2007

It is desirable that the guard robot should be small-sized and light-weighted to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with different situations. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes the jumping mechanism based on the conical spring for a small robot. Both the clutch mechanism and conical spring are incorporated into the jumping mechanism. In the clutch mechanism, the spring can be immediately compressed and released by one actuator with the planetary gear train and one-way clutch. The robot equipped with the jumping mechanism can overcome the obstacles which are higher than its height. In this paper, the characteristic of the conical spring for the jumping robot is determined and the small-sized, lightweight jumping mechanism is developed. The validity of the jumping mechanism was verified by various experiments. It is shown that the robot using this mechanism can provide good mobility in the rough terrain.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.6
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• pp.545-551
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• 2009

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.33 no.5
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• pp.380-385
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• 2020

Over the past decade, small robots have been of particular interest in the engineering field. Among the various types of small robots, biomimetic robots, which mimic animals and insects, have been developed for special activities in areas where humans cannot physically access. The optimal motion of a walking robot can be determined by the characteristics of the traversed surface (e.g., roughness, curvature, slope, materials, etc.). This study proposes three types of piezoelectric structures using different driving mechanisms, depending on the application range of the small walking robots. Dynamic modeling using computer-aided engineering optimized the shape of the robot to maximize its moving characteristics, and the results were also verified through its fabrication and experimentation. Three types of robots, named by their actuator shapes as I, π, & T-shape, were proposed regarding application for small scale ambulatory robots to different terrain conditions. Among these, the T-shaped robots were shown to have a wide range of speeds (from 2 mm/s up to 255 mm/s) and good carrying capacity (up to 10 g at 50 mm/s) through driving experiments. Based on this study, we proposed possible application areas for the three types of walking robot actuators.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.535-542
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• 2012

Recently, the study on small-sized reconnaissance robot has been progressed through grafting robot technology to military fields for minimizing the casualties. Especially, throwable robots have been focusing for their's efficiency in anti-terror operation. However, it is impossible to launch throwable robot to long range(approximately 100m) by hand. So we need another type of robots, so called launchable robots, which can launch farther and is more accurate by launcher. In this paper, we presented the process of developments of launchable robots('launchbot') which are available for remote launch from collection of user's opinions to field test. Based on the opinions of users, we established the goal of development, designed and manufactured the robots. Through the field test, we found that our launchable robot satisfied the performance requirements.