• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.267-267
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 로봇학회논문지
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• 제2권3호
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• pp.270-274
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• 2007

In this paper, we present a Sound Source Localization (SSL) based GCC (Generalized Cross Correlation)-PHAT (Phase Transform) and new measurement method of angle with robot auditory system for a network-based intelligent service robot. The main goal of this paper is to analysis performance of TDOA and GCC-PHAT sound source localization method and new angle measurement method is compared. We use GCC-PHAT for measuring time delays between several microphones. And sound source location is calculated by using time delays and new measurement method of angle. The robot platform used in this work is wever-R2, which is a network-based intelligent service robot developed at Intelligent Robot Research Division in ETRI.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.420-427
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• 2010

This paper describes a localization method based on Monte Carlo Localization approach for a mobile robot. The method uses range data which are measured from ultrasound transmitting beacons whose locations are given a priori. The ultrasound receiver on-board a robot detects the range from the beacons. The method requires several beacons, theoretically over three. The method proposes a sensor model for the range sensing based on statistical analysis of the sensor output. The experiment uses commercialized beacons and detector which are used for trilateration localization. The performance of the proposed method is verified through real implementation. Especially, it is shown that the performance of the localization degrades as the sensor update rate decreases compared with the MCL algorithm update rate. Though the method requires exact location of the beacons, it doesn't require geometrical map information of the environment. Also, it is applicable to estimation of the location of both the beacons and robot simultaneously.

• 대한산업공학회지
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• 제18권2호
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• pp.131-140
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• 1992

The purpose of this study is to improve the performance of robot by providing visual function with robot and developing high-functioned controller and control program. The developed high-functioned controller and software have the better accuracy and flexibility in the movement of robot by complementing the existing robot controller and software problems. To provide visual function to robot, camera calibration, thresholding and contouring tools are also developed and applied in this study. These tools help robot recognize the central points and orientations of objects on work-bench.

• 한국기계기술학회지
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• 제13권1호
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• pp.95-103
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• 2011

Robots in various types carry and assemble parts through repeatedly and accurately moving to stored locations by combining linear motions. And, linear systems are used in orthogonal axes of robots and driven via ball screws, such as 2-axis cartesian coordinate robot in this paper. This paper presents the effect of the linear motion guide that is used in $2^{nd}$ axis in 2-axis cartesian coordinate robot. Some simulation results show that the linear motion guide influence greatly in robot performance such as the nominal life of linear guide. When use LM guide that have capacity near in $2^{nd}$ axis, this paper show that the nominal life on LM block of $1^{st}$ axis increases 37.4% and that the specification of $2^{nd}$ axis LM guide influences greatly the nominal life of $1^{st}$ axis LM block.

• 로봇학회논문지
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• 제16권1호
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• pp.72-78
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• 2021

This paper presents a robust impedance control of high-DOF robot based on disturbance observer(DOB). A novel DOB is derived by considering the residual disturbance caused by the difference between actual disturbance and disturbance decoupling input which utilizes the estimated disturbance. It focuses on the elimination of the residual disturbance and improvement of the control performance as well as the good estimation of disturbances. In the control of high-DOF robot, numerical dynamic model, which is conducted by a software based on dynamics, is utilized because the analytical model of high-DOF robot is difficult to be obtained. The simulation of high-DOF robot with numerical dynamic model is provided to verify the performance of the proposed controller.

• 방송공학회논문지
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• 제25권4호
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• pp.487-496
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• 2020

차세대 로봇 공연 기술을 개발하기 위하여 산업용 로봇 arm에 휴머노이드형의 로봇 액터를 부착한 RAoRA (Robot Actor on Robot Arm) 구조를 제안하고, 시스템 연동 제어를 위한 소프트웨어를 탑재하여 로봇 공연 플랫폼을 구축하였다. 로봇 액터와 산업용 로봇 arm의 연동 모션을 위하여 역학적 분석을 수행하고 기계적 메커니즘을 설계 및 제작하였다. 로봇 액터의 동작을 위하여 3D 모델의 기구학적인 분석, spline 위치 보간, 모션 제어 알고리즘 및 제어 장치를 개발하였다. 비전문가도 직관적이고 안전한 공연 콘텐츠를 제작할 수 있도록 사전 시각화, 시뮬레이션 도구 및 콘솔 통합 운영 도구를 개발하였다. 테스트를 위하여 지면에 거의 밀착하여 자연스럽게 걷거나 서서히 공중으로 올라가는 air walk 시연하였고 러닝 타임 5분의 공연에 적용하였다. 그 결과 제안된 로봇 공연 플랫폼은 기존의 로봇 공연에서는 구현이 불가능했던 입체적이고 생동감 있는 모션을 구현할 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.725-726
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• 2008

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권4호
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• pp.232-239
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• 2015

Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.