• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.815-819
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• 1996

In this work, regular rotational gaits of the quadruped crawling robot required to change its moving direction without affecting be its orientation and its static stability margin are studied. The regular rotational gaits provide the quadruped crawling robot with omnidirectional characteristics. However, the ideal foothold region for each of legs of the quadruped crawling robot is assumed for simplicity. Nonetheless, it is expected that the results of this paper will provide the insight for both design of legs of the crawling robot with omnidirectional characteristics as well as its operation of the crawling robot system with specified stability margin.

• 한국인공지능학회지
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• 제11권4호
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• pp.15-20
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• 2023

Machine learning is comprised of supervised learning, unsupervised learning and reinforcement learning as the type of data and processing mechanism. In this paper, as input and output are unclear and it is difficult to apply the concrete modeling mathematically, reinforcement learning method are applied for crawling robot in this paper. Especially, Q-Learning is the most effective learning technique in model free reinforcement learning. This paper presents a method to implement a crawling robot that is operated by finding the most optimal crawling method through trial and error in a dynamic environment using a Q-learning algorithm. The goal is to perform reinforcement learning to find the optimal two motor angle for the best performance, and finally to maintain the most mature and stable motion about EV3 Crawling robot. In this paper, for the production of the crawling robot, it was produced using Lego Mindstorms with two motors, an ultrasonic sensor, a brick and switches, and EV3 Classroom SW are used for this implementation. By repeating 3 times learning, total 60 data are acquired, and two motor angles vs. crawling distance graph are plotted for the more understanding. Applying the Q-learning reinforcement learning algorithm, it was confirmed that the crawling robot found the optimal motor angle and operated with trained learning, and learn to know the direction for the future research.

• 로봇학회논문지
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• 제14권4호
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• pp.270-277
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• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

• 로봇학회논문지
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• 제14권4호
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• pp.245-250
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• 2019

Milli-scale crawling robots have been widely studied due to their maneuverability in confined spaces. For successful crawling, the crawling robots basically required to fulfill alternating gait with elliptical foot trajectory. The alternating gait with elliptical foot trajectory normally generates both forward and upward motion. The upward motion makes the aerial phase and during the aerial phase, the forward motion enables the crawling robots to proceed. This simultaneous forward and upward motion finally results in fast crawling speed. In this paper, we propose a novel alternating mechanism to make a crab-inspired eight-legged crawling robot. The key design strategy is an alternating mechanism based on double four-bar linkages. Crab-like robots normally employs gear-chain drive to make the opposite phase between neighboring legs. To use the gear-chain drive to this milli-scale robot system, however, is not easy because of heavy weight and mechanism complexity. To solve the issue, the double-four bar linkages has been invented to generate the oaring motion for transmitting the equal motion in the opposite phase. Thanks to the proposed mechanism, the robot crawls just like the real crab with the crawling speed of 0.57 m/s.

• 대한기계학회논문집A
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• 제32권8호
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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.

• 한국산학기술학회논문지
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• 제21권4호
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• pp.356-361
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• 2020

소형의 다리형 주행 로봇은 몸체의 크기 대비 바퀴주행보다 높은 장애물을 극복할 수 있다는 장점이 있다. 이러한 이점을 활용하여 다양한 형태의 다리 주행 소형 로봇이 개발되었다. 본 논문에서는 기존의 단면 주행을 넘어 양면 주행이 가능한 12족 생체모사 크롤링 로봇을 제안한다. 주행 로봇은 험지 주행 시에 전복되거나 자세가 흐트러지는 경우가 자주 발생한다. 12족 양면 주행로봇은 전복이 되어도 지체 없이 곧바로 주행이 계속 가능하다. 양면 주행을 위한 핵심 메커니즘은 구동부를 공유하는 것이다. 몸체부의 중간에 위치한 힘 전달 구조가 위와 아래에 위치한 모든 다리로 움직임을 전달한다. 이와 같이, 유사한 기능을 수행하는 구조물을 통합하여 구조의 간소화와 경량화를 달성하였다. 또한, 무게를 줄이기 위하여 종이 기반의 복합재를 사용하여 32g의 경량 설계를 수행하였다. 로봇의 성능을 평가하기 위해, 윗면과 아랫면 모두에 대해 주행 테스트를 실시하였다. 그 결과 윗면으로 주행 시 0.52m/s, 아랫면으로 주행 시 0.42m/s의 속력을 보여주어, 양면 모두 성공적인 주행이 가능함을 확인하였다.

• 로봇학회논문지
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• 제13권2호
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• pp.97-102
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• 2018

A small and lightweight crawling robots have been actively studied thanks to their outstanding mobility and maneuverability. Those robots can navigate into more confined spaces that larger robots are unable to reach or enter such as debris and caves. In this paper, we propose a milli-scale hexapedal robot based on planar linkage design. To make this possible, two necessary conditions for successful crawling are satisfied: thrust force from the ground and aerial phase while running. These conditions are achieved through a newly developed leg design. The robot has a pair of legs and each leg has three feet. Those feet alternatively moves based on 1DOF planar linkage. This linkage is installed at each side of the robot and finally the robot shows the alternating gait and aerial phase during running. As a result, the robot runs with the crawling speed of 0.9 m/s.

• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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• pp.147-155
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• 2002

In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts from one of six support patterns in a translational gaits and end up with one of six support patterns in a translational gaits. Noting that six support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.173.1-173
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• 2001

This paper proposes the methodology in image processing algorithm that estimates the pose of the pipe crawling robot. The pipe crawling robots are usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light varies with the robot posture. The algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.68.1-68
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• 2002

This paper considers a rough neurocomputing approach to the design of the classify layer of a Brooks architecture for a robot control system. The Paradigm for neurocomputing that has its roots in rough set theory, and works well in cases where there is uncertainty about the values of measurements used to make decisions. In the case of the line-crawling robot (LCR) described in this paper, rough neurocomputing is used to classify sometimes noisy signals from sensors. The LCR is a robot designed to crawl along high-voltage transmission lines where noisy sensor signals are common because of the electromagnetic field surrounding conductors. In rough neurocomputing, training a network of neurons...