• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1992.04a
• /
• pp.127-132
• /
• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• Proceedings of the KIEE Conference
• /
• 1997.11a
• /
• pp.576-580
• /
• 1997

This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.279-279
• /
• 2000

In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts fur the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell fur automatic test and assembling in S company.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.9
• /
• pp.812-818
• /
• 2012

In this paper, we propose an asynchronous behavior control algorithm of the swarm robot for surrounding intruders when detected an intruder in a surveillance environment. The proposed method is divided into three parts: First, we proposed the method for the modeling of a state of the swarm robot. Second, we proposed an asynchronous behavior control algorithm for the surrounding an intruder by the swarm robot. Third, we proposed a control method for the collision avoidance with the swarm robot. Finally, we show the effectiveness and feasibility of the proposed method through some experiments.

• Proceedings of the IEEK Conference
• /
• 2002.07c
• /
• pp.1658-1661
• /
• 2002

In this paper, we propose the intelligent inference trace algorithm of the mobile robot using fuzzy logic. With the proposed algorithm, the mobile robot can trace human at regular intervals. The mobile robot can recognize the distances between it and human 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, the mobile robot acquires the information about circumstances using ultrasonic sensor and PC-camera then secondly, recognize the status of circumstances using the fuzzy logic. We also evaluate the experimental navigation test at several times to verify the ability of the fuzzy logic controller.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.2
• /
• pp.373-381
• /
• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• Advances in robotics research
• /
• v.2 no.1
• /
• pp.1-11
• /
• 2018

To monitor the environment and determine the source of a pollutant gradient using a multiple robot swarm, we propose a hybrid algorithm that combines two bio-inspired algorithms mimicking chemotaxis and pheromones of bacteria. The algorithm is implemented in virtual robot agents in a simulator to evaluate their feasibility and efficiency in gradient maps with different sizes. Simulation results show that the chemotaxis controller guided robot agents to the locations with higher pollutant concentrations, while the pheromone marked in a virtual field increased the efficiency of the search by reducing the visiting redundancy. The number of steps required to reach the target point did not increase proportionally as the map size increased, but were less than those in the linear whole-map search method. Furthermore, the robot agents could function with simple sensor composition, minimum information about the map, and low calculation capacity.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.55 no.2
• /
• pp.83-88
• /
• 2006

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning nile and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.

• Proceeding of EDISON Challenge
• /
• 2016.03a
• /
• pp.506-509
• /
• 2016

In this paper, the multi-leg robot is designed using Teo Jansen mechanism. The purpose of this paper is to develop unique robot, which operates efficiently in any environment. In that case, speed and accuracy are required. The indication which evaluate the value is Ground Score according to the Jansen's mechanism. To optimize the Ground Score. Genetic Algorithm (GA) in MATLAB Toolbox is used, which is numerical analytic algorithm to quickly convergence into optimum point. The Optimization of value is visualized by M-Sketch. M-Sketch was useful for simulation and evaluation of mechanic's dynamic motion. The robot's draft is produced into finished product by Edison Designer.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.1208-1211
• /
• 1996

In this paper, an efficient and robust robot path planning technique is discussed. Concentric Ripple Edge Evaluation and Progression( CREEP ) algorithm[1] has been elaborated and expanded to carry out 3-D path planning. Like the 2-D case, robot can always find a path, if one exists, in a densely cluttered, unknown and unstructured 3-D obstacle environment. 3-D space in which the robot is expected to navigate is modeled by stacking cubic cells. The generated path is resolution optimal once the terrain is fully explored by the robot or all the information about the terrain is given. Path planning times are significantly reduced by local path update. Accuracy and efficiency of wave propagation in CREEP algorithm are achieved by virtual concentric sphere wave propagation. Simulations in 2-D and 3-D spaces are performed and excellent results are demonstrated.