• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.255-257
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• 2005

This paper deals with the design and the realization of a small humanoid robot, which is called SERO_VI. The design concept and the mechanical structure including kinematics for the robot are presented. The humanoid robot consisted of 25 DOF with legs 12 DOF, arms 8 DOF, waists 3 DOF and heads 2 DOF for the purpose of vision system. The controller structure was also suggested such as modular joint actuators, DSP interface and their communication method. Simple experiment was done and its validness was investigated in order to verify the kinematic result.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.43-43
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• 2000

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes; One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according to the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot's gait motion. In our walking algorithm, the ankle joint is mainly used lot balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on even surface.

• 한국전자통신학회논문지
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• 제11권12호
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• pp.1225-1230
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• 2016

본 논문에서는 영상 처리를 이용한 소형 이족 로봇의 임무 수행에 대해 다루도록 한다. 주어진 지도상에서 안정적인 보행을 위해서는 위치 인식이 필요하게 된다. 주행 경로상의 경계를 추출하여 로봇의 위치 정보를 추정하도록 한다. 평면상에서 운동하는 경우 위치와 방향으로 이루어진 세 개의 인자의 추정이 필요하다. 본 논문에서는 주행 경로상의 수직 방향의 로봇의 위치와 진행 방향등 두 개의 인자를 추정하여 위치 추정을 하도록 한다. 장애물 검출을 위해서는 칼라 정보를 이용하도록 하며 안정적인 검출을 위해 정규화된 값을 이용하도록 한다.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.193-200
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• 2012

Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.103-112
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• 2020

Field robots are used in various fields, such as agriculture, forestry, manufacturing, and construction; their use has recently expanded to include submarine areas. Field robots can aid in various tasks, such as soil transport, ground clearance, and dismantling of buildings. As field robots are used in a variety of different areas, the difficulty of the work is also quite varied. Increased difficulty is associated with an increased risk of accidents involving the field robot. In order to reduce the accident rate of field robot workers, the need for digitalization and automation of field robots is becoming more of an issue. To this end, it is necessary to study a system that enables workers to do their work without directly contacting a field robot. Therefore, in this paper, we introduce a control system for wireless remote control of a small field robot. The field robot can be wirelessly controlled by a worker in a remote location if the worker cannot be present at the work site. The implemented remote system is tested according to the type of work, and the operating characteristics of the remote system are assessed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.143-144
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1866-1870
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• 2005

Typical small desktop robots have limied application due to their intrinsic feaures like friction, backlash, etc. However, a newly developed small gantry desktop robot needs smaller footprint and shows better performance in position accuracy, velocity, and acceleration. In order to achieve such results, synchronization control of two axes, position compensation methods in plane are suggested.

• 한국산업융합학회 논문집
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• 제21권1호
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• International Journal of Internet, Broadcasting and Communication
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• 제10권3호
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• pp.35-41
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• 2018

Smart device has become an affordable main computing resource for robotic ap-plications in accordance with a fast growth of mobile internet environment. Since the computing power of smart device has been increased, smart device based ro-bot system attempts to replace traditional robot applications with laptop-based system. Methodologies for acquisition of remote sensory information and control of various types of robots using smart device have been proposed recently. In this paper, we propose a robot control system using a monitoring program and a communication protocol. The proposed system is a combination of an educa-tional programming oriented robot named EPOR-S. as small service robot plat-form and a smart device. Through a simulation study using image processing, the feasibility of combination of the proposed robot monitoring program and control system was verified.