• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.81-84
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• 2007

바퀴구동형 로봇 메카니즘은 다양한 서비스 로봇에 활용되고 있는데, 이 로봇을 위하여 가장 기본적으로 요구되는 성능중의 하나는 등반능력과 관련된 구동모터의 사양을 결정하는 문제를 들 수 있다. 본 논문에서는 이러한 바퀴구동형 로봇 메카니즘의 등반능력을 고려하고, 경사면을 원활하게 주행하기 위한 필요조건을 제시하고자 한다. 결과적으로, 이러한 조건은 이동로봇 메카니즘의 설계에 유용하게 활용될 수 있을 것으로 기대한다.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.941-948
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• 2022

Disaster response robots are deployed to disaster sites where human access is difficult and dangerous. The disaster response robots explore the disaster sites prevent a structural collapse and perform lifesaving to minimize damage. It is difficult to operate robots in the disaster sites due to rough terrains where various obstacles are scattered, communication failures and invisible environments. In this paper, we developed a series connectable wheeled robot module. The series connectable wheeled robot module was developed into two types: an active driven robot module and a passive driven robot module. A wheeled robot was built by connecting the two active type robot modules and one passive type robot module. Two robot modules were connected by one DoF rotating joint, allowing the wheeled robot to avoid obstructions in a vertical direction. The wheeled robot performed driving and obstacle avoidance using only pressure sensors, which allows the wheeled robot operate in the invisible environment. An obstacle avoidance experiment was conducted to evaluate the performance of the wheeled robot consisting of two active driven wheeled robot modules and one passive driven wheeled robot module. The wheeled robot successfully avoided step-shaped obstacles with a maximum height of 80 mm in a time of 24.5 seconds using only a pressure sensors, which confirms that the wheeled robot possible to perform the driving and the obstacle avoidance in invisible environment.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.3
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• pp.329-334
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• 2008

It is well-known that a kind of wheel drive mechanism is usefully employed in various service robots. One of the essential requirements for such robots is regarded as the capability of climbing that enables them to run on an inclined road smoothly. So, this paper considers the capability of climbing in a wheel drive robotic mechanism and proposes a necessary discriminating condition to determine the specification of a driving actuator which will be employed. Consequently, it is expected that the proposed discriminating condition can be applied to wheel drive robotic mechanisms in the design aspect.

• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.697-709
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• 2010

The patrol robot is a typical extreme robot for the military use. It helps soldiers by detecting and informing a potential risk instead, and warning earlier. Also, these kinds of extreme robots need good ability to conquest rough road. In this paper, we studied new mechanism through which we can get high speed on the flat road with round shape wheels, and simultaneously can get good ability to overcome rough road with blade-shape wheels. The shape of the wheels is being self-adaptively changed automatically according to the condition of the road without using additional actuator.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.1
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• pp.21-27
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• 2022

Traditional automobile or 2-wheeled robot have limitations on mobility because of their mechanical structure. As traditional automobile is being replaced by electric cars, robot technology is applied to the car industry. In robotics, many researchers worked on omnidirectional mobile robot and produced lots of noticeable results. However in many of the results, specialized wheels such as Mecanum wheels are required. That imposes restrictions on robot speed and outdoor driving. We proposed a 2-wheeled modular robot that has omnidirectional mobility without using specialized wheels. In this paper, we propose a 4-wheeled omnidirectional mobile robot that consists of those two modular robots. The proposed robot adopts electric brakes to combine wheel housings and the robot body or to separate wheel housings from the robot body. Two absolute-type encoders and four incremental encoders are used to control the position of the wheel housing and velocities of the wheels. The proposed robot has omnidirectional mobility and can move fast and outdoor with normal tire wheels. We implemented the proposed robot and the feasibility and stability of the robot is verified by two separate experiments.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.3
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• pp.1299-1304
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• 2014

This paper is a study for developing an agriculture automatic hose reel of mobile robot. One of the important works in farming is pesticide spraying because it is related to the growth of crops. Therefore, we develop an automatic reel hose and mobile robot. Conducting kinematic analysis of steering performance, the mobile robot is designed to move smoothly even in a small space, and that is verified by simulation. To increase supplying accuracy of the automatic hose reel, the mobile robot use detecting tension mechanism on a hose and a device for the hose deployment. We conduct performance and on-farm evaluation. This system has been maximum speed of 2.5m/s, driving accuracy of ${\pm}0.18^{\circ}$ and driving safety speed of 2m/s. The system would solve an aging population and shortage of workforce in agriculture.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.4 s.316
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• pp.35-41
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• 2007

In this paper a single-wheeled robot called GYROBO is built and its hardware is implemented. The single-wheeled robot is similar to a rolling disk relying on gyroscopic motions to maintain its balance. The GYROBO consists of three actuators: a spin motor a tilt motor, and a drive motor. The spin motor spins a flywheel at a high rate so that it provides the balancing stability to upright the robot. The tilt motor controls steering of the robot by gyroscopic effect. The drive motor makes forward accelerated motion to the robot. Several models are designed. Experimental works of the GYROBO to turn and move forward have been presented.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.23-29
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• 2016

This paper presents balancing control of a two-wheel mobile robot (TWMR). TWMR is aimed to maintain balance while moving. Although TWMR can be controlled by linear controllers such as PD controller, time-delayed controller is employed for robustness. Performances of PD controllers and time-delayed controllers are compared. Especially, experimental studies on different acceleration estimation for the time-delayed controller are conducted. Performances by different acceleration estimations of the balancing angle, of the position, and of both angle and position are compared empirically.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.5
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• pp.1447-1454
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• 1991

본 로봇은 wheeled type과 legged type의 장점을 함께 가지고 있으므로 주행 속도가 빠르며 환경적응력이 좋다. 기존 로봇과 비교할때 Y.Icihkawa등이 개발한 HLV와 가장 유사하지만 모터 3개로 6개의 바퀴-다리 유닛을 구동하므로 모터15개로 5개의 바퀴-다리유닛을 구동하는 Ichikawa HLV와 동력전달구조에서 많이 상이하다. 뿐만아니라 본 로봇은 3개의 모터만 사용했기 때문에 주행제어가 훨씬 간단하고 제작 비가 저렴하며 장애물 및 계단승강시 걸음새가 훨씬 간단하다.(Ichikawa HLV 경우 뒷 쪽 2개의 다리를 동시에 들 수 없기 때문에 계단 승강시 몸체 회전을 적절하게 섞어야 한다.)