• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2762-2764
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• 2005

In this paper, we study the robot controller design using the voice and data communication via CDMA(Code Division Multiple Access) mobile communication network. We design the robot remote controller using the three methods, telephone call speech recognition, DTMF (Dual Tone Multiple Frequency) realization, SMS(Short Message Service) transmission/reception way via CDMA mobile communication network. We investigate the validity and effectiveness of the proposed remote controller which applied to the mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1201-1207
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• 2010

This paper shows to stabilize a balancing robot. We derive the dynamics of a balancing robot and design its controller using LQR method. For stabilizing balancing robot, we introduce a method to detect an angle using inertial sensors. In this study, we use a complementary filter to fuse signals by frequency response of gyroscope and accelerometer in order to measure the inclined angle of balancing robot. The filter coefficients are obtained by least square to minimize error in angle-detecting filter design. And then, after we derive a dynamics of balancing robot using Lagrange method, we linearize that dynamics for using LQR method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.585-592
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• 2008

The aging society comes, the number of the old people expended. Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these required technological solutions, a demonstrator platform for a walking assistance robot. robot which has the capability to perform fetch and carry and various other supporting tasks. In this study, we addresses the development of a walking assistance robot system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Each motion of the robot uses a linear actuator and gears. Motion can be distinguished into 3 parts depending on the up & down, rotation, and cushion trans. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the walking assistance robot is validated through preliminary experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.522-525
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• 2007

Most big difference of existing robot and biped robot stays at the leg. The wheel is very efficient with the portability than the leg. However biped robot can accomplish many role height. But The two thing which we take the center to the leg and walk to the stability is not easy work. Therefore this proposal make efforts that we try to find technical element for the walking of the robot through its design and implementation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.540-540
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• 2000

This paper explores design and control methods of a surgical robot for total hip replacement surgery which can be easily maneuvered by a surgeon Like an advanced surgical tool. The 3-DOF in-parallel surgical robot is fixed directly onto patient's femur by the bone clamp during surgery. With the master/slave combined surgical robot, the surgeon can directly control the motion of the surgical robot with surgeon's experience and judgment during operation. For the easiness of operation, the master/slave combined robot is controlled using admittance control paradigm. And for the precise operation, the robot motion is restricted at the surgical boundary using virtual hard wall display.

• The Journal of Korea Robotics Society
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• v.13 no.2
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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.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.139-144
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• 2014

This paper presents the novel design, implementation and control of a single-wheel mobile robot that can balance by using air power from ducted fans. All of the motions of the single-wheel mobile robot are actuated by air power instead of motor torques. Using air power allows to reduce the total weight of the robot. The complementary sensor fusion algorithm is introduced to estimate the angle correctly. After several design and development, the robot is tested for balancing in the roll direction and yawing motion. In addition, the balancing control of the robot on a single rope is tested to evaluate the control performance.

• 전기의세계
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• v.29 no.7
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• pp.460-470
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• 1980

The design of a control unit for a playback-type industrial robot is studied. Implemented for the cylindrical-coordinate type industrial robot with 5 degrees of freedom, the control unit constructed for the study consists of (i) z-80 .mu.p-based .mu.-computer control system (ii) Teach-Box for work command, and (iii) various softwares for generating signals for servo driving unit and operating the robot as playback-type. Softwares are developed by using high level Basic Language and low level z-80 Assembly Language for ease of programming and speed of program execution. To show the effectiveness, and example is included.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.345-347
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• 2006

In this paper, we study the robot controller design using the voice and data communication via CDMA(Code Division Multiple Access) mobile communication network. We design the robot remote controller using the three methods, telephone call speech recognition, DTMF (Dual Tone Multiple Frequency) realization, SMS(Short Message Service) transmission/reception way via CDMA mobile communication network. We investigate the validity and effectiveness of the proposed remote controller which applied to the mobile robot.

• 시스템엔지니어링워크숍
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• s.1
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• pp.165-168
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• 2003

A robot system in most industries has a complicated structure, which includes electric and electronic components, and mechanical parts. For this reason, building a robot system also has a very complicated design and maintenance processes. Especially to predict or assess the system's maintainability and safety is important for both designer and operator before it's production or installation of the system. This paper presents an application methodology of FMECA focused on safety in design of a robot system with point of view of reliability engineering.