• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.82-87
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• 1997

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.250-254
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• 2001

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.199-203
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• 2000

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.130-134
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• 2000

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.69.3-69
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• 2001

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.895-899
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• 2014

This paper presents the balancing control of a unicycle robot using air power. Since the robot has one wheel to move forward and backward, the balancing control is quite challenging. To control the balancing angle, the accurate angle estimation by a tilt and a gyro sensor is required a priori. A complementary filter is implemented to eliminate the defects of two sensors and to fuse together to estimate an accurate balancing angle. The optimal design of air ducts is found empirically. Experimental studies of the balancing control of a unicycle robot confirm that the robot is well regulated without falling down.

• Journal of the Korea Society of Computer and Information
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• v.16 no.7
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• pp.157-163
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• 2011

In this paper, configuration control for the Horizontal Maintenance and driving of the mobile inverted pendulum robot has been studied using ARS(Attitude Refrence System). The inverted pendulum technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a mobile inverted pendulum robot can move in various modes and Our robot performs goal reaching ARS. Mobile inverted pendulum robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the IMU and PID control.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.229-237
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• 2013

In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.2
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• pp.65-67
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• 2006

To make the autonomous mobile robot move in the unknown space, we have to know the information of current location of the robot. So far, the location information that was obtained using Encoder always includes Dead Reckoning Error, which is accumulated continuously and gets bigger as the distance of movement increases. In this paper, we analyse the effect of the size of the two wheels of the mobile robot and the wheel track of them among the factors of Dead Reckoning Error. And after this, we compensate this Dead Reckoning Error by Kalman filter using Gyro Sensors. To accomplish this, we develop the controller to analyse the error components of Gyro Sensor and to minimize the error values. We employ the numerical approach to analyse the error components by linearizing them because each error component is nonlinear. And we compare the improved result through simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.118-125
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• 2012

Based on recent advances in technology, many robots are developed and they are used in a hazardous environment such as military operation, fire, and building collapse and so on. Among them, reconnaissance robot should be able to perform various missions which people can not do. So it needs the capability of moving with hiding its position on rough terrain, overcoming obstacles, and guaranteeing its efficiency of reconnaissance. For this reason there are in progress of researching biomimetic robots. Therefore in this paper we proposed robot mechanism, two modules based on the screw and wheel mechanism which mimic snake, and the spiral climbing method was considered for overcoming the situation when moving on the trees.