• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2001.11a
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• pp.233-238
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• 2001

The mechanism design of the interactive emotional robot has been carried out. The two-wheeled inverted pendulum type mechanism was adopted to improve the mobility and make the innate clumsy monoaxial bicycle motion. Even though the system is unstable in itself, it is expected for the robot to move freely in a plane, keeping the upright position only with two wheels. Two motors attached on head can make 4 motion sets, and two motors on the wheels can make 8. Therefore, 32 independent motion sets can be achieved from the robot to communicate the emotions with humans. The motion's equation of the robot was derived based on nonholonomic dynamics, and the necessary power to the wheel's rotational axis was found by simulation.

• Proceedings of the Korean Society of Potoscience Conference
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• 2005.06a
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• pp.126-126
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• 2005

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.507-514
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• 2022

Mobile manipulators are getting lime light in the field of home automation due to their mobility and manipulation capabilities. In this paper, we developed a small size manipulator system that can be mounted on a mobile robot as a preliminary study to develop a mobile manipulator. The developed manipulator has four degree-of-freedom. At the end-effector of manipulator, there are a camera and a gripper to recognize and manipulate the object. One of four degree-of-freedom is linear motion in vertical direction for better interaction with human hands which are located higher than the mobile manipulator. The developed manipulator was designed to dispose the four actuators close to the base of the manipulator to reduce rotational inertia of the manipulator, which improves stability of manipulation and reduces the risk of rollover. The developed manipulator repeatedly performed a pick and place task and successfully manipulate the object within the workspace of manipulator.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.6
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• pp.843-849
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• 2010

This paper presents definition of symmetry of a ship section where three symmetries are proposed: material, geometric, and load symmetries. Precise terminologies of centroid, moment plane, and neutral axis plane are also defined. It is suggested that force vector equilibrium as well as force equilibrium are necessary condition to determine new position of neutral axis due to translational and rotational mobility. It is also stated that new reference datum of ENMP(elastic neutral moment plane), PNMP(fully plastic moment plane), ENAP(elastic neutral axis plane), and INAP(inelastic neutral moment plane) are required to define asymmetric section properties such as second moment of area, elastic section modulus, yield moment, fully plastic moment, and ultimate moment. Since collision-induced damage and flooding-induced biaxial bending moment produce typical asymmetry of section, the section properties are calculated for a typical VLCC. Geometry asymmetry is determined from ABS and DNV rules and two moment planes of 0/30 degs are assumed for load asymmetry. It is proved that the property reduction ratios directly calculated from second moment of area are usually larger than area reduction ratio. Reduction ratio of ultimate moment capacity shows almost linearly proportional to area reduction ratio. Mobility of elastic and inelastic neutral axis planes is visually provided.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.4
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• pp.471-479
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• 2010

A holonomic drive can provide rotational and translational acceleration simultaneously in any direction. For this reason the holonomic drive technology is very desirable in creating motion for any mobile platform and has many promising mobility applications in the field of robotics and automation where manipulability is critical issue especially when the mobile system is operated in obstacle prone environment. In this paper a pragmatic methodology for realizing a holonomic drive system using multiple servo-casters is presented. The steering and driving of each servo-caster is controlled such that they are coordinated with the motions of other servo-casters in order to realize holonomic motion. This paper also proposes algorithms for varying manipulability as operation situation demands.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Structural Engineering and Mechanics
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• v.85 no.6
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• pp.825-835
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• 2023

The effective buckling length factor is an important parameter in the elastic buckling analysis of steel structures. The present article aims at developing a new method that allows the determination of the buckling factor values for frames. The novelty of the method is that it considers the interaction between the bracing and the elastic supports for asymmetrical frames in particular. The approach consists in isolating a critical column within the frame and evaluating the rotational and translational stiffness of its restraints to obtain the critical buckling load. This can be achieved by introducing, through a dimensionless parameter 𝜙_i, the effects of coupling between the axial loading and bending stiffness of the columns, on the classical stability functions. Subsequently, comparative, and parametric studies conducted on several frames are presented for assessing the influence of geometry, loading, bracing, and support conditions of the frame columns on the value of the effective buckling length factor K. The results show that the formulas recommended by different approaches can give rather inaccurate values of K, especially in the case of asymmetric frames. The expressions used refer solely to local stiffness distributions, and not to the overall behavior of the structure.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.285-292
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• 2023

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

• Journal of Aerospace System Engineering
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• v.16 no.1
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• pp.49-55
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• 2022

The role of drones has been expanded to various fields such as agriculture, construction, and logistics. In particular, agriculture drones are emerging as an effective alternative to solve the problem of labor shortage and reduce the input cost. In this study therefore, we proposed the fruit recognition algorithm and harvesting mechanism for fruit harvesting drone system that can safely harvest fruits at high positions. In the fruit recognition algorithm, we employ "You-Only-Look-Once" which is a deep learning-based object detection algorithm and verify its feasibility by establishing a virtual simulation environment. In addition, we propose the fruit harvesting mechanism which can be operated by a single driving motor. The rotational motion of the motor is converted into a linear motion by the scotch yoke, and the opened gripper moves forward, grips a fruit and rotates it for harvesting. The feasibility of the proposed mechanism is verified by performing Multi-body dynamics analysis.