• Journal of Drive and Control
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• v.13 no.4
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• pp.52-58
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• 2016

The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.951-956
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• 2005

Since a snake achieves various movements just by a slender body, the mechanism of it is very amazing Many researches have been focusing on a snake like robot and have done for it on the ground. However the meander motion of the snake not only can be done by ground creatures, but also can be done by a water creature such as a sea snake or an eel. Therefore, the purpose of our research is to develop an autonomous underwater robot like the sea snake. As an approach to this goal, we develop an experimental sea snake-like-robot for examining basic characteristics, including propulsion, a turning and other performance. Our developed robot is composed of the head and 4 bodies. Each body equips one servomotor, which is operated with pulse signal. In the head unit, 1- chip-microcomputer, which generates the servomotor control signal for realizing a snake motion and the battery, is equipped. Our robot is covered with a rubber film for the waterproof. Using our developed robot, characteristics of the snake-like-robot moved in water are examined.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

• Biomaterials and Biomechanics in Bioengineering
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• v.2 no.4
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• pp.249-269
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• 2015

A problem faced by oil companies is the maintenance of the location register of pipelines that cross the surf zone, the regular survey of their location, and also their inspection. A survey of the state of art did not allow identifying operating systems capable of executing such tasks. Commercial technologies available on the market also do not address this problem and/or do not satisfy the presented requirements. A possible solution is to use robotic systems which have the ability to walk on the shore and in the surf zone, subject to existing currents and ripples, and being able to withstand these ambient conditions. In this sense, the authors propose the development of a spider crab biologically inspired robot to achieve those tasks. Based on these ideas, this work presents a biomechanical study of the spider crab, its modeling and simulation using the SimMechanics toolbox of Matlab/Simulink, which is the first phase of this more vast project. Results show a robot model that is moving in an "animal like" manner, the locomotion, the algorithm presented in this paper allows the crab to walk sideways, in the desired direction.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.359-367
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• 2013

With recent growth of the economy and development of construction technology, the increase of high-rise buildings is appearing rapidly in urban areas. For this reason, the interest in building maintenance has also been increasing. However, it has many safety problems because it is difficult for the workers to access the exterior wall of building. Therefore, the maintenance system of high-rise building stands out as being important issues to be developed, so that a variety of robot systems have been developed to accomplish the building-wall maintenance works. In this paper, the maintenance robots are classified in painting, inspecting, cleaning systems according to the maintenance works. Then, their locomotion and adhesion mechanisms are analyzed including their applicability to the real maintenance works. This study can be used to develop maintenance robotic system that is more efficient and stable than existing ones.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• Clinical Endoscopy
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• v.51 no.6
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• pp.552-557
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• 2018

Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeutic interventions. These procedures require precise maneuvers of instruments, execution of force, efficient transmission of force from the operator to the point of application, and sufficient dexterity in the mobilization of endoscopic surgical instruments. The conventional endoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomy of the colon makes inserting, moving, and orientating the endoscope difficult. Exerting excessive pressure can cause looping of the endoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhanced systems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks such as apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous robotic master and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotion devices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers and opened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systems in the context of their applications to advanced therapeutic colonoscopy.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.345-350
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• 2002

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. The colonoscopy is generalized, but if requires much time to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. biomedical and robotic researchers are developing a locomotive colonoscope that can travel safe1y in colon. In this paper, we propose a new actuator and concept of semi-autonomous colonoscope. The micro robot comprises camera and LED for diagnosis, steer- ing system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to pass over haustral folds in colon. For locomotion of semi-autonomous colonoscope, we suggest an actuator that is based on impact force between a cylinder and a piston. In order to validate the concept and the performance of the actuator, we carried out the simulation of moving characteristics and the preliminary experiments in rigid pipes and on the colon of pig.