• 제어로봇시스템학회논문지
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• 제9권11호
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• pp.906-916
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• 2003

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.242-248
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• 2007

In this paper, we implement the internet-based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert's knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.325-327
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• 2007

In this paper, we implement the internet- based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of- the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert's knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.

• Advances in robotics research
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• 제2권1호
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• pp.13-31
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• 2018

This paper presents the performance of Teaching-Learning-Based Optimization (TLBO) algorithm for optimum static balancing of a robot manipulator. Static balancing of robot manipulator is an important aspect of the overall robot performance and the most demanding process in any robot system to match the need for the production requirements. The average force on the gripper in the working area is considered as an objective function. Length of the links, angle between them and stiffness of springs are considered as the design variables. Three robot manipulator configurations are optimized. The results show the better or competitive performance of the TLBO algorithm over the other optimization algorithms considered by the previous researchers.

• 한국정밀공학회지
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• 제21권7호
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• pp.115-123
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• 2004

This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(Finite Difference Method). In this paper, optimal index is defined to dynamically stable walking of a biped robot, and genetic algorithm is applied to optimize gait trajectory and balancing motion of a biped robot. By genetic algorithm, the index of walking parameter is efficiently optimized, and dynamic walking stability is verified by ZMP verification equation. Genetic algorithm is only applied to balancing motion, and is totally applied to whole trajectory. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• 대한임베디드공학회논문지
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• 제14권3호
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• pp.151-156
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• 2019

According to recent advances in technology, major robot technologies that have been developed and commercialized for industrial use are being applied to various fields in our everyday life such as guide robots and cleaning robots. Among them, the navigation based on the self localization has become an essential element technology of the robot. In the case of indoor environment, many high-priced sensors are used, which makes it difficult to activate the robot industry. In this paper, we propose a robotic platform and a moving algorithm that can travel by using Dijkstra algorithm. The proposed system can find a short route to the destination with its own position. Also, its performance is discussed through the experimentation of an actual robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.119.1-119
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• 2002

$\textbullet$ Introduction: Service robot $\textbullet$ Design of the Guide Service Mobile Robot $\textbullet$ Path tracking algorithm $\textbullet$ Path recognition algorithm $\textbullet$ Localization $\textbullet$ Guide lever $\textbullet$ Conclusions: A mobile robot was developed as a service robot

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.109-114
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• 1987

In this thesis, we work on the curve recognition with real time processing and the Robot tracking method on recognized curve. Image information of segment curve is supplied to computer to run to a Robot so that it is a feedback system. Image coordinate frame to world coordinate transformation represents in this paper and curve matching algorithm subscribes by two method, first transformation matching algorithm, second image coordinate matching algorithm. Also Robot running time to computer image processing time relationships finally includes.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• 전기학회논문지
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• 제63권1호
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• pp.92-98
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• 2014

This paper proposes a hermite spline based D* algorithm for effective path planning of mobile robot to improve the detecting speed. In conventional path planning research, a robot is supposed to pass through predetermined centers of grid partitions of area. However it doesn't guarantee the optimal path during its navigation. In addition, a robot is hard to avoid obstacles effectively. The proposed algorithm in this paper makes use of stochastic characteristics of nonholonomic mobile robot and estimation of shortest path to curvature movement of the robot. The performance evaluation of the improved spline D* algorithm performed through simulation shows its effectiveness. Moreover, the experiment verifies that a robot can find the shortest path by building the curve paths while it is moving on the path in spline.