• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.309-312
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• 2003

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable walking, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quadruped walking vehicle. Energy consumption of two walking patterns for a trot gait is investigated though experiments using a TITAN-VIII.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1247-1252
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• 2005

Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.3
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• pp.157-164
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• 2015

In this paper we propose a walking aid system for blind people by exploiting a haptic feedback equipment. The proposed system is a form of haptic feedback cane which is composed of MCU, communication module, sensing module and actuator. The proposed system recognizes obstacles around the blind by using ultrasonic sensors in the sensing module. Moreover, the system generates feedback information about the detected obstacle and then notifies the information to the blind through the actuator. The blind can notice the direction of the detected obstacle with the haptic feedback equipment and vibration motor. Futhermore, the proposed system controls a nearby IoT(Internet of Things) system by utilizing push buttons through the ZigBee communication. Finally, the blind can easily decide the direction of the obstacle without interference of terrain feature by using the proposed system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• Journal of the Institute of Convergence Signal Processing
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• v.6 no.4
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• pp.191-197
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• 2005

Biped walking is the main feature of a humanoid robot. In a biped walking robot, there are many actuators to be controlled and many sensors to be interfaced. In this paper, we propose a DSP-based controller for a miniature biped walking robot with 21 RC servo motors. The proposed controller has a hierarchical structure; a host PC, a DSP-based main controller, and an auxiliary controller with an FPGA chip. The host PC generates and transmits the robot walking data for given walking parameters such as stride, walking period, etc. The main controller implemented with a TMS320LF2407A controls 21 RC servo motors via the auxiliary controller. We also perform some experiments for balancing motion and walking on a slope terrain with interfacing a 2-axis acceleration sensor and a TMS320LF2407A.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.11
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• pp.74-79
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• 2021

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.

• 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 Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.667-674
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• 2015

This paper describes the development of a prototype hexapod robot with six circular legs to overcome a variety of challenging terrains. The legs of the robot are very important for stability during walking, which are analyzed for determining the optimal design parameters through CAE tools. Its control system consists of three types of sensors, microprocessors, and communication modules for PC interface. The entire operation of the robot can be controlled and monitored using a PC. The experimental operations for three different roads verified the feasibility of the prototype robot for carrying out reconnaissance on multi terrain. In the near future, the prototype robot can be used for a military purpose of detecting and informing a potential risk in advance.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.205-207
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• 2006

Since a humanoid robot inherently suffers from instability and always risks tipping itself over, or topping to the ground, it is necessary to ensure high stability and reliability of walk. An unexpected ground condition is one of the principal factors of instability. This paper proposes a walk stabilization method consisting of a Fuzzy algorithm and geometry under uneven terrain. The ground reaction forces that are measured by the FSR sensors on the sole are used to check the ground condition and the robot posture. The effectiveness of proposed method is verified by computer simulations.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.411-416
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• 2016

Existing moving robots has several kinds of moving method; using wheel, jointed leg structure and so on. Wheel type can be operated by DC motor so it is simple and efficient. However, it is not appropriate to pass irregular terrain and obstacle. Leg structure type has an advantage in those cases. Generally, Leg structure is operated by several servo motors attached to each joint. It makes a robot heavier and more complicate due to increase of the degree of freedom. However, by using Theo Jansen Mechanism, one (or more) leg have only single-degree of freedom and can be operated by only one DC motor. So leg structure using Theo Jansen Mechanism will be good choice if robots have to be mass-produced. This paper describes the following a walking robot designed and produced based on Theo Jansen Mechanism, simulating process of Theo Jansen leg structure using Edison m.Sketch and how to solve several of discovered problem of the robot.