• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.36-41
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• 2011

Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

• Journal of the Semiconductor & Display Technology
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• v.17 no.3
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• pp.65-69
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• 2018

In this paper, we have developed a multi-attitude monitoring system for running farm robots for field farming. There are many agricultural robots that can select work modules for various tasks. In order to control the stable attitude of agricultural robots connected to each other, we developed a system for monitoring the roll angle and pitch angle difference by fusing the information of the attitude monitoring system mounted on the robot mainframe and the work module. The developed attitude monitoring system showed resolution below 1 degree. In this paper, roll angle difference of 20 degrees and 60 degrees is measured with a multi - attitude monitoring system.

• Journal of Advanced Navigation Technology
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• v.24 no.5
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• pp.444-449
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• 2020

I proposed small ambulatory robot actuators using piezoelectric benders. In order to make the motion of the biomimetic robot legs similar to the movements of the cockroaches or similar insects, two pairs of legs in the diagonal direction in the four leg structures are required to make the same movement. And elliptical displacement is realized by taking into account horizontal and vertical displacement of multimode oscillations and driving them by electrical signals with differences step by step, for example of 90° the T-shaped robot actuator showed wide range of speed (From 2 mm/sec. up to 266 mm/sec.) and ability of transportation (up to 10 g with 50 mm/s). Locomotive performance of the robot was competitive to the preceding robots, and moreover, the modular type actuators of a segmented myriapods robot could be added and removed for different tasks or performances.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2721-2724
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• 2003

This paper deals with a manipulability analysis of multi-legged walking robots in acceleration domain, that is the dynamic manipulability analysis of walking robot. Noting that the kinematic structure of the walking robot is basically the same with that of the multiple serial robot system holding one object, the analysis method for cooperating robot is converted to that of walking robot. With the proposed method, the bound of achievable acceleration of the moving body is easily derived from the given bounds on the capabilities of Joint torques. Several walking robot examples are analyzed with proposed method under the assumption of hard contact, and presented in the paper to validate the method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.304-306
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• 2003

In this paper, we propose the intelligent robot control technique for mobile robot using personal digital assistants (PDA). With the proposed technique, the mobile rebot can trace human at regular intervals by the remote control method with PDA. The mobile robot can recognize the distances between it and human whom the robot must follow with both multi-ultrasonic sensors and PC-camera and then, can inference the direction and velocity of itself to keep the given regular distances. In the first place, the mobile robot acquires the information about circumstances using ultrasonic sensor and PC-camera then secondly, transmits the data to PDA using wireless LAN communication. Finally, PDA recognizes the status of circumstances using the fuzzy logic and neural network and gives the command to mobile robot again.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.130-133
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• 2003

The robot has recently emerged as a factor in the daily lives of humans, taking the form of a mechanical pet or similar source of entertainment. A robot system that is designed to co-exist with humans, i.e., a coexistence-type robot system, is important to be "it exists in various environments with the person, and robot system by which the interaction of a physical, informational emotion with the person etc. was valued". When studying the impact of intimacy in the human/robot relationship, we have to examine the problems that can arise as a result of physical intimacy(coordination on safety in the hardware side and a soft side). Furthermore, We should also consider the informational aspects of intimacy (recognition technology, and information transport and sharing). This paper reports the interim results of the research of a system configuration that enhances the physical intimacy relationship in the symbiosis of the human and the robot.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.3 no.2
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• pp.73-78
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• 2004

In this paper, the instrument for scientific education in elementary school is developed with the application of basic robot technology for coming IT future world. Particularly, a kind of robot game to fun a race with each other is planed to give a motive or interest in scientific education. This robot game is played with two robots per player, One robot is moved wirelessly with a remote controller and the other robot is moved automatically with intelligence given by computer program made by a player. This game system will be in spotlight as multi-objective educational system not only to teach basic technology of IT, but also to improve the ability for logical and creative thought in elementary school students.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.77-86
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• 2006

A new method in robot path generation is presented using an analysis of the characteristics of multi-robot collision avoidance. The research is based on the concept of the collision map, where the collision between two robots is presented by a collision region and a crossing curve TLVSTC (traveled length versus servo time curve). Analytic collision avoidance is considered by translating the collision region in the collision map. The 4 different translations of collision regions correspond to the 4 parallel movements of the actual original robot path in the real world. This analysis is applied to path modifications where the analysis of collision characteristics is crucial and the resultant path for collision avoidance is generated. Also, the correlations between the translations of the collision region and robot paths are clarified by analyzing the collision/non-collision areas. The influence of the changes of robot velocity is investigated analytically in view of collision avoidance as an example.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.95-101
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• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.165-173
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• 1998

In this paper, a motion control algorithm is developed by using fuzzy control technique, which makes a robot arm avoid unexpected obstacles when the robot is moving from the start to a goal posture. During the motion, if there exist no obstacles the robot arm moves along the pre-defined path. But if some obstacles are recognized and close to the robot arm, a fuzzy controller is activated to adjust the path of the robot arm. To show the feasibility of the developed algorithm, numerical simulations and experiments are carried out. In the experiments, redundant planar robot arms are considered for the collision avoidance test, and it was proved that the developed algorithm gives good collision avoiding performance.