• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.526-528
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• 2004

This paper focuses on planning strategies for object interception, especially with minimum time. Herein, the goal is for robot to intercept object with minimum time on a conveyor line that flows to x-axis with respect to world coordinate system. In order to do it, conveyor system needs the algorithms for minimizing time. This objective is achieved by solving about two problems: selection of a minimum-time interception point and planning of an optimal robot trajectory. Herein, the first problem is formulated a minimization of the robot-object interception time.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.423-427
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• 1993

A velocity planning method is proposed that ensures collision-free and minimal delay-time motions for two robotic manipulators and auxiliary equipments. Additional path, which makes robot start with possible largest speed, is added to the original prescribed path of one of two robots, and this running start along the additional path reduces delay time introduced to avoid collision between the robots and therefore reduces total traveling time.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.151-155
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• 1996

In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.2
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• pp.99-109
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• 2015

This study proposes a new approach to analyze the impedance and the elasticity of a serial chain of spring-damper system, areal-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-position adjustment to solve a collision problem by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process,, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative is carried out by the system of robots. A control technology is proposed to implement for mobile robot.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• ETRI Journal
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• v.37 no.5
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• pp.1032-1043
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• 2015

ETRI's Co-Pilot project is aimed at the development of an automated vehicle that cooperates with a driver and interacts with other vehicles on the road while obeying traffic rules without collisions. This paper presents a core block within the Co-Pilot system; the block is named "Co-Pilot agent" and consists of several main modules, such as road map generation, decision-making, and trajectory generation. The road map generation builds road map data to provide enhanced and detailed map data. The decision-making, designed to serve situation assessment and behavior planning, evaluates a collision risk of traffic situations and determines maneuvers to follow a global path as well as to avoid collisions. The trajectory generation generates a trajectory to achieve the given maneuver by the decision-making module. The system is implemented in an open-source robot operating system to provide a reusable, hardware-independent software platform; it is then tested on a closed road with other vehicles in several scenarios similar to real road environments to verify that it works properly for cooperative driving with a driver and automated driving.

• Aerospace Engineering and Technology
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• v.7 no.1
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• pp.91-98
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• 2008

Since the 1st space race between the United States and Soviet Union during the 1960s, we are competing 2nd space race to occupy the Lunar territory. Since the United States announced to construct the Lunar Base by the end of 2020, ED, Japan, and China launched Lunar explorers successfully. Even India is planning to launch a Lunar explorer in 2008. Korean government also announced that the Korea will launch first Lunar explorer in 2020. In this research Lunar mission trajectory design which will be fundamental data for Lunar mission with variable low thrust and Lunar mission trajectory which has a similar mission specification to SMART-1 are presented.

• Bulletin of the Korean Space Science Society
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• 2004.10b
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• pp.99-99
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• 2004

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.56-64
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• 2013

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.4
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• pp.526-534
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• 2003

Motions of animals and gymnasts in the air as well as free flying space robots without thruster are subject to nonholonomic constraints generated by the law of conservation of angular momentum. The interest in nonholonomic control problems is motivated by the fact that such systems can not stabilized to its equilibrium points by the smooth control input. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose a control method using bang-bang control for trajectory planning of a 3 link mechanical system with initial angular momentum. We reduce the DOF (degrees of freedom) of control object in the first control phase and determine the control inputs to steer the reduced order system from its initial position to its desired position. Computer simulation for a motion planning of an athlete approximated by 3 link is presented to illustrate the effectiveness of the Proposed control scheme.