• Title, Summary, Keyword: improvement of robot

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Methodology for Establishment of Operational Concept for Speed-Up of Defense Robot and Improvement Direction of the Defense Acquisition System (국방로봇 신속 전력화를 위한 운용개념 수립 방법론 및 획득체계 개선방향)

  • Eom, Hongseob
    • The Journal of Korea Robotics Society
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    • v.13 no.3
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    • pp.182-189
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    • 2018
  • The purpose of this paper is to suggest the methodology for the establishment of operational concept for speed-up of defense robot and improvement direction of the defense acquisition system for the defense robot. In order to achieve this goal, the current defense acquisition system was analyzed into long-term planning, mid-term programming, and project execution stages. And I suggest the methodology for the establishment of operational concept for speed-up of defense robot and direction of development of the defense robot acquisition system considering the characteristics of the robot in terms of core technologies of robot, robot ecosystem and effectiveness-based-robot-design, respectively. Based on the methodology for establishment of the operational concept of defense robot and development direction of the defense acquisition system presented in this study, it will be possible to design efficiently the defense robot in the future.

Improvement Trend of a Humanoid Robot Platform HUBO2+ (휴머노이드 로봇플랫폼 HUBO2+의 기술 개선 추이)

  • Lim, Jeongsoo;Heo, Jungwoo;Lee, Jungho;Bae, Hyoin;Oh, Jun-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.356-363
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    • 2014
  • This paper covers improvement of the humanoid robot platform HUBO2, known as the HUBO2+. As a necessity of the growth of the humanoid platform, a robust, reliable and user friendly platform is needed. From this standpoint, HUBO2+ is the most improved humanoid robot platform in the HUBO series. The mechanical design has been changed to increase the movable range and to stop joint compulsion. Additionally, all of the electrical parts are re-designed to be un-breakable in an unexpected situation. A smart power controller with robot status check panel is attached on the back. Additionally, a diagnosis tool, the HUBO-i, has been developed. Moreover, each joint motor controller of HUBO2+ has a Protection Function and a PODO system is provided for handling the robot easily.

A study on an improvement of the robot motion control by the robot ergonomics (Robot Ergonomic에 의한 로보트의 동작제어 개선에 관한 연구)

  • 이순요;권규식
    • Journal of the Ergonomics Society of Korea
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    • v.8 no.2
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    • pp.19-26
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    • 1989
  • This study, as a part of integrated human-robot ergonomics, improves the robot motion control on the robot task in the TOES/WCS whose purpose is improving the teaching task constructed in the previous study. First, the updated combined fuzzy process using a new membership function with Weber's law is constructed for the purpose of coordinate reading of the end points in the macro motion control. Second, an algorithm using the geometric analysis is desinged in order to calculate position values and posture values of the robot joints. Third, the MGSLM method is designed to remove unnecessary the robot motion control caused by the GSLM method in the micro motion control. Consequently, proposed methods in this study lessen burdcn of a human of an improvement of the robot motion control and reduce the teaching time of a human operator and inaccuracy of the teaching task, which contribute to the integrated human-robot ergonomics.

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Improvement of Strategy Algorithm for Soccer Robot (축구 로봇의 전략 알고리즘 개선)

  • 김재현;이대훈;이성민;최환도;김중완
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.177-181
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    • 2001
  • This paper presents an strategy algorithm of a soccer robot. We simply classified strategy of soccer robot as attack and defense. We use DC-motor in our Soccer Robot. We use the vision system made by MIRO team of Kaist and Soty team for image processing. Host computer is made by Pentium III. The RF module is used for the communication between each robot and the host computer. Fuzzy logic is applied to the path planning of our robot. We improve strategy algorithm of soccer robot. Here we explain improvement of strategy algorithm and fault of the our soccer robot system.

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Application of an Input Shaping Method for Reduction of Residual Vibration in the Wafer Positioning Robot (웨이퍼 이송 로봇의 잔류진동 저감을 위한 입력성형 기법의 적용)

  • Ahn, Tae-Kil;Yim, Jae-Chul;Kim, Seong-Kun;Kim, Kug Weon
    • Journal of the Semiconductor & Display Technology
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    • v.11 no.2
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    • pp.33-38
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    • 2012
  • The wafer positioning robot in the semiconductor industry is required to operate at high speed for the improvement of productivity. The residual vibration caused by the high speed of the wafer positioning robot, however, makes the life of the robot shorter and the cycle time longer. In this study, the input shaping and the path of the system are designed for the reduction of the residual vibration and the improvement of the cycle time. The followings are the process for the reduction and the improvement; 1) System modeling of the wafer positioning robot, 2) Verification of dynamic characteristics of the wafer positioning robot, 3) Input shaping plan using impulse response reiteration, 4) Simulation test using SIMULINK program, 5) Analysis of result.

The improvement of MIRAGE I robot system (MIRAGE I 로봇 시스템의 개선)

  • 한국현;서보익;오세종
    • 제어로봇시스템학회:학술대회논문집
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    • pp.605-607
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    • 1997
  • According to the way of the robot control, the robot systems of all the teams which participate in the MIROSOT can be divided into three categories : the remote brainless system, the vision-based system and the robot-based system. The MIRAGE I robot control system uses the last one, the robot-based system. In the robot-based system the host computer with the vision system transmits the data on only the location of the ball and the robots. Based on this robot control method, we took part in the MIROSOT '96 and the MIROSOT '97.

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The Effect of a Robot C Programming Curriculum on Improving Creativity and Programming Ability - Case of a Science high School- (로봇C언어 교육프로그램이 창의력과 프로그래밍 능력 향상에 미치는 효과 - 과학 고등학교 사례-)

  • Suh, Hyeong-Eob
    • 대한공업교육학회지
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    • v.34 no.1
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    • pp.210-237
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    • 2009
  • The aim of this thesis is to develop a robot C programming curriculum with the subject of the students in the middle & High School and to prove the effect of the programming on creativity and programming ability. The content of the robot C programming curriculum consists of the introduction, basic knowledge and assembling of the robot (usage of kits and the theory of mechanism); the learning of the robot c programming; the assigned robot making; the original robot making, which is ultimately designed to improve the creative robot programming ability of students. The subjects are divided into two groups(38); one groups(11) taking the course of C++programming and the other(27) taking the robot C programming as well as C++programming. Then each group's improvement of creativity and programming ability is measured in both pretest and posttest. The students taking the robot C programming curriculum gain the product of the assigned robot and the original robot. Besides, it turns out that the curriculum have a meaningful effect in that students acquire the enhanced creativity according to the result of TTCT Creativity Test. Self evaluation also indicates the improvement of C++programming ability.

The Effects of Robot-Assisted Gait Training with Visual Feedback on Gait, Balance and Balance Confidence in Chronic Stroke Patients

  • Ham, Sin-Cheol;Lim, Chae-Gil
    • The Journal of Korean Physical Therapy
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    • v.28 no.2
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    • pp.71-76
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    • 2016
  • Purpose: This study was conducted to assess the effects of robot-assisted gait training with visual feedback on gait, balance, and balance confidence in patients with chronic stroke. Methods: Thirty subjects with chronic stroke were randomly assigned to two groups: the experimental group (n=15) and the control group (n=15). The experimental group performed robot-assisted gait training for 30 minutes and the control group performed gait training with assisted devices training for 30 minutes after both groups performed conventional physical therapy for 30 minutes. Both groups performed the therapeutic interventions for 5 days per week, for a period of 4 weeks. For assessment of the 10 m walking test (10 MWT), Figure of 8 on the walk test (F8WT), Timed-Up and Go test (TUG), and Berg Balance Scale (BBS) were used to test the gait and balance, and the Korean version of the Activities-specific Balance Confidence Scale was used to test the balance confidence. Results: The experimental group showed significant improvement in the 10 MWT and the K-ABC (p<0.05), and the control group showed significant improvement in the BBS and the TUG (p<0.05). In four measurements, there were significant differences between the two groups (p<0.05), and the control group showed significant improvement in the F8WT at pre and post intervention (p<0.05). Conclusion: This study demonstrated that Robot-assisted gait training with visual feedback is an effective intervention for improving straight gait abilities and balance confidence, while the control group showed some improvement in curve gait and balance. Thus, we suggest both Robot-assisted gait training with visual feedback and gait training with assisted devices training exercise as a therapeutic intervention in chronic stroke rehabilitation.

The Approach of Robot-assisted Gait Therapy for Locomotor Recovery of Chronic Stroke Patients: a Case Report

  • Shin, Hee-Joon;Lee, Ju-Hyeok;Seo, Dong-Kyu;Kim, Hong-Rae;Moon, Ok-Kon;Park, Si-Eun;Park, Joo-Hyun;Kim, Nyeon-Jun;Min, Kyung-Ok
    • Journal of International Academy of Physical Therapy Research
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    • v.2 no.1
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    • pp.207-213
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    • 2011
  • In this case report, we investigated the effects of robot-assisted gait therapy in a chronic stroke patient using motor assessment and gait analysis. A patient who suffered from the right hemiparesis following the left corona radiata and basal ganglia infarction received 30 minutes of robot-assisted gait therapy, 3 times a week for 4 weeks. Outcome was measured using Motoricity index(MI), Fugl-Meyer assessment(FMA), modified motor assessment scale(MMAS), isometric torque, body tissue composition, 10-meter gait speed and gait analysis. After robot-assisted gait therapy, the patient showed improvement in motor functions measured by MI, FMA, MMAS, isometric torque, skeletal muscle mass, 10-meter gait speed. In gait analysis, cadence, single support time, double support time, step length, walking speed improvement in after robot-assisted gait therapy. The results of this study showed that robot-assisted gait therapy is considered to facilitate locomotor recovery of the chronic hemiparetic stroke patient.