• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.717-719
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• 2004

Currently mobile devices change rapidly our life and they have considerable influences over many parts of our society. If the mobile device is applied to a control system, the usability of the control system is increased with its convenient accessibility and mobility. This paper realizes a motor control system by using a mobile device. The device uses Intel Xscale PXA-250 in which Widows CE is ported. The device is very popular at the applications of mobile devices. Also we consider its application to a mobile robot such as home service robot.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 한국산학기술학회논문지
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• 제10권1호
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• pp.96-103
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• 2009

본 논문은 HMm (High-speed Mobile Multimedia, 초고속 이동멀티미디어) 시스템의 서브시스템인 이동단말시스템 중 RC(Radio Control), SC(Session Control), MC(Mobility Control) 등의 계층 3(Layer 3, 이하 L3) 제어 프로토콜과 VOD, FTP, VoIP 등의 응용 서비스가 구현된 L3 이동단말 플랫폼의 연구 결과를 설명한다. 하드웨어 플랫폼은 PXA255 기반으로 다양한 인터페이스와 멀티미디어 장비들이 지원되도록 제작되었고, 자체적으로 개발된 크로스 툴체인으로 생성된 임베디드 리눅스가 설치되었으며, 이 위에 L3 제어 프로토콜과 응용 서비스가 탑재되었다. L3 이동단말 플랫폼은 HMm 시스템 테스트베드에서 호처리 뿐만 아니라 영상 지원 SIP 서비스, 웹브라우징 서비스, 스트리밍 서비스 등을 성공적으로 지원하였다. 이 플랫폼은 향후 멀티미디어 기능이 강화될 4세대 이동통신단말을 개발하는데 참고가 될 수 있을 것이다.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.726-734
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• 2007

Generally, a mobile robot is moved by original input programs. However, it is very hard for a non-expert to change the program generating the moving path of a mobile robot, because he doesn't know almost the teaching command and operating method for driving the robot. Therefore, the teaching method with speech command for a handicapped person without hands or a non-expert without an expert knowledge to generate the path is required gradually. In this study, for easily teaching the moving path of the autonomous mobile robot, the autonomous mobile robot with the function of speech recognition is developed. The use of human voice as the teaching method provides more convenient user-interface for mobile robot. To implement the teaching function, the designed robot system is composed of three separated control modules, which are speech preprocessing module, DC servo motor control module, and main control module. In this study, we design and implement a speaker dependent isolated word recognition system for creating moving path of an autonomous mobile robot in the unknown environment. The system uses word-level Hidden Markov Models(HMM) for designated command vocabularies to control a mobile robot, and it has postprocessing by neural network according to the condition based on confidence score. As the spectral analysis method, we use a filter-bank analysis model to extract of features of the voice. The proposed word recognition system is tested using 33 Korean words for control of the mobile robot navigation, and we also evaluate the performance of navigation of a mobile robot using only voice command.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 추계종합학술대회 B
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• pp.797-801
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• 2008

본 논문은 시스템 사용자가 시스템이 위치해 있는 장소에 직접 상주하지 않고도 자신의 개인 휴대폰을 이용해서 언제 어디서나 시스템을 모니터링하고 제어할 수 있는 방법에 대해 기술한다. 모바일 접속을 위한 컴퓨터 서버의 환경은 Apache 웹 서버와 PHP 및 MySQL ODBC를 연동해서 구축했다. 원격 모바일 접속을 위한 무선 인터넷 홈페이지는 Anybuilder 소프트웨어를 이용해 개발했고, 프로그램 개발을 위한 모바일 시뮬레이터는 Openwave SDK 6.2를 사용했다. 개발한 무선인터넷 접속 프로그램은 국내 이동통신 3사 모두에 대해 적용이 가능하며 본 논문에서 최종 테스트는 WAP 접속용 브라우저가 탑재된 KTF 단말기를 사용했다. 로컬 시스템에 대한 제어 및 모니터링 프로그램은 NI Labview 소프트웨어를 이용해서 개발했다. 원격으로 제어하고자 하는 로컬 시스템은 아날로그와 디지털 신호를 송. 수신 가능한 데이터 수집 장치와 신호 제어용 보드를 연결하여 소프트웨어에 의해 제어되게 했다. 휴대폰을 이용해 원격으로 제어가 가능함을 실험을 통해 확인했다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.643-648
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• 1989

This paper presents a theoretic study and computer simulation of models and approaches for dynamical obstacle avoidance by mobile robots. The movement of obstacles in unknown environment is described by any one or a combination of three models. The control strategy of the mobile robots is formulated based on one of three approaches. A trajectory-guided control strategy for dynamical obstacle avoidance has been developed. The method greatly simplifies the control process of mobile robots, and is computationally attractive.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.243-245
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• 2007

This paper presents the implementation of teleoperation control of an omni-direction mobile robot. The master joystick robot has two degrees of freedom to control the movement of the slave mobile robot in the Cartesian space. In addition, the whole teleoperated control system is closed by the force feedback. The operator can feel the contact force as the slave robot makes contact with the environment. Experimental results show that the teleooerated control with force feedback has been successfully implemented.

• 한국자동차공학회논문집
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• 제12권4호
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• 전기학회논문지
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• 제60권6호
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• pp.1245-1254
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• 2011

This paper proposes a target tracking algorithm for wheeled mobile robots using in various fields. For the stable tracking, we apply a vision system to a mobile robot which can extract targets through image processing algorithms. Furthermore, this paper presents an algorithm to position the mobile robot at the desired location from the target by estimating its relative position and attitude. We show the problem in the tracking method using the Position-Based Visual Servo(PBVS) control, and propose a tracking method, which can achieve the stable tracking performance by combining the PBVS control with Image-Based Visual Servo(IBVS) control. When the target is located around the outskirt of the camera image, the target can disappear from the field of view. Thus the proposed algorithm combines the control inputs with of the hyperbolic form the switching function to solve this problem. Through both simulations and experiments for the mobile robot we have confirmed that the proposed visual servo control method is able to enhance the stability compared to of the method using only either PBVS or IBVS control method.