• Proceedings of the Korea Information Processing Society Conference
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• 2012.11a
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• pp.540-542
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• 2012

카메라를 탑재한 파이프 등반용 로봇의 매니퓰레이터가 카메라 영상을 이용하여 파이프를 파지하기 위해서는 파이프의 영상처리와 매니퓰레이터의 관절각 계산 알고리즘이 필요하다. 본 논문에서는 이를 위한 방법과 구현에 대하여 기술한다.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1067-1072
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• 2014

The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacle-climbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.238-244
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• 2022

Maintenance works of offshore wind turbines could take a longer time, which causes the reduction of their energy production efficiency, than those of onshore wind turbines owing to severe offshore environment. Subsequently, preventive maintenance measures are required to increase the production efficiency. Thus, we proposed a wheel-based Underwater Pole Climbing Robot (UPCR) platform, which was aimed at the periodic inspection and maintenance of the substructures of the offshore wind turbines, with three advantages: high speed, good mobility and low power consumption. In the proposed platform, a self-locking system using a gripper module was adopted for preventing slippery problem and a dual configuration was chosen for moving on a branched structure. As a result, the proposed robot was able to continuously climb, preserve it's position at the pole without consuming energy, and move from the pole to the other branched pole. The results of this research show that the UPCR has basic moving capabilities required for the underwater work for the substructures of the offshore wind turbines.

• Journal of the Korean Society for Nondestructive Testing
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• v.34 no.1
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• pp.60-67
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• 2014

In this study, an automated cable non-destructive testing(NDT) system was developed to monitor the steel cables that are a core component of cable-stayed bridges. The magnetic flux leakage(MFL) method, which is suitable for ferromagnetic continuum structures and has been verified in previous studies, was applied to the cable inspection. A multi-channel MFL sensor head was fabricated using hall sensors and permanent magnets. A wheel-based cable climbing robot was fabricated to improve the accessibility to the cables, and operating software was developed to monitor the MFL-based NDT research and control the climbing robot. Remote data transmission and robot control were realized by applying wireless LAN communication. Finally, the developed element techniques were integrated into an MFL-based cable NDT system, and the field applicability of this system was verified through a field test at Seohae Bridge, which is a typical cable-stayed bridge currently in operation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.6034-6039
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• 2012

In this paper, this may appear to exacerbate it met slopes of the mobile robot moves to overcome this by driving can occur if the mobile robot system has its own sleep problems driving progress in until you hit the target and solvedriving straight driving safer model for adaptive fuzzy control method of mobile robot based control algorithm is proposed. First, we propose a model based adaptive fuzzy controller, if possible, the dynamics model of the mobile robot, including model-based controller is designed to determine if you can check the condition of the mobile robot climbing and driving the mobile robot to overcome the slope and the to overcome driving control. Enough considering the ground friction forces and ensure the stability of the mobile robot system and the disturbance compensation, etc. In this case, the controller design will be possible. In addition, the nonlinear model, the dynamic characteristics of the mobile robot control method of adaptive fuzzy control techniques in the design that you want to fully reflect Non-holonomic system of mobile robots and solve sleep problems, and will be useful enough, it was verified through computer simulations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.3
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• pp.246-252
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• 2020

Safety accidents have been reported due to falling accumulated snow from cables of cable-supported bridges. In addition to the direct damage caused by falling snow, secondary damage, such as traffic accidents, can occur. Various methods have been proposed to prevent these accidents, but there are still problems in safety and practicality. In this study, a cable robot type was selected as one of the active methods for removing accumulated snow on cables. An attempt was made to increase the climbing ability of the robot to improve the efficiency of snow removal. In addition, the available range of cable diameter for the robot can be adjusted flexibly to be applied to cables used in the field. A high-resolution camera was also installed to check the surface condition of the cable in real time to increase the utility, and be used as a cable inspection robot. A three-axis accelerometer and a tension conversion algorithm were added to measure the tension force of cables. To verify the performance, indoor and field experiments were conducted, and future improvements for the inspection robot were proposed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.398-402
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• 2014

This paper presents the results of a study on the optimal footpad design for vertical climbing on acrylic surfaces with various curvatures used Taguchi methods. For a climbing robot, the adhesion system plays an important role in the climbing process. Only an appropriate adhesion strength will prevent the robot from falling and allow it to climb normally. Therefore, the footpad is a significant parameter for a climbing robot and should be studied. Taguchi methods were used to obtain a robust optimal design, where the design variables were the flat tacky elastomeric shape, area, thickness, and foam thickness of the footpad. Experiments were conducted using acrylic surfaces with various curvatures. An optimized footpad was selected based on the results of the experiments and analysis, and the stability of the wall-climbing robot was verified.

• Journal of the Semiconductor & Display Technology
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• v.21 no.4
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• pp.121-125
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• 2022

This paper deals with the development of a deep-learning-based robot that recognizes various types of stairs and performs a mission to go up to the target floor. The overall motion sequence of the robot is performed based on the ROS robot operating system, and it is possible to detect the shape of the stairs required to implement the motion sequence through rapid object recognition through YOLOv4 and Cuda acceleration calculations. Using the ROS operating system installed in Jetson Nano, a system was built to support communication between Arduino DUE and OpenCM 9.04 with heterogeneous hardware and to control the movement of the robot by aligning the received sensors and data. In addition, the web server for robot control was manufactured as ROS web server, and flow chart and basic ROS communication were designed to enable control through computer and smartphone through message passing.