• The Journal of the Korea Contents Association
• /
• v.18 no.12
• /
• pp.140-149
• /
• 2018

Along with the recent increase in national income, social phenomena such as aging due to a decrease in population and an increase in single households are observed. There are also an increasing number of households raising pets in proportion to aging households and the increase in the number of single households, most of which use animal companions to overcome loneliness and boost domestic vitality. As more and more people consider pets as family members, the size of the domestic pet market is also growing. The growing number of pets in older households and single households is not properly managed by care such as food meals and exercise management for pets. It is necessary to research and develop robots that can monitor animal companions remotely, feed a certain amount of food at regular intervals, and manage their health through exercise. Among pet companions, dog selection is the highest. Therefore, this study identified robot research on driving methods, examples of existing pet care systems, and researched pet care robots using obstacle avoidance algorithms. In order to use the snack pay behavior and obstacle avoidance algorithm of the pet animals by applying IoT and we .oPI technology, it is able to use ultrasonic sensors on the front and has four infrared sensors on the back. However, this study does not reflect the characteristics of other pet animals as a study on pet care robots, and it requires continuous observation and testing.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.9 no.6
• /
• pp.1247-1252
• /
• 2005

Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.528-531
• /
• 1997

This paper deals with the kinematic and dynamic modeling of a 3 degree-of-freedom redundantly actuated mobile robot for the purpose of analysis and control. Each wheel is driven by two motors for steering and driving. Therefore, the system becomes force-redundant since the number of input variable is greater than the number of output variable. The kinematic and dynamic models in terms of three independent joint variables are derived. Also, a load distribution method to determine the input loads is introduced. Finally we demonstrate the feasibility of the proposed algorithms through simulation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.4
• /
• pp.342-348
• /
• 2015

This paper presents a two-wheel balancing mobile robot with linear workspace extension structures. The two-wheel mobile robot has two linear motions at the waist and shoulder to have extended workspace. The linear motion of the waist and shoulder provides some structural advantages. A dynamic equation of the simplified robot system is derived. Simulation studies of the position control of the robot system are performed based on the dynamic equations. The dynamic relationship between a two-wheel mobile system and linear extension mechanism is observed by simulation studies.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.10
• /
• pp.1014-1020
• /
• 2009

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.9
• /
• pp.863-868
• /
• 2015

In this paper, the vibration of a single-wheel mobile robot is minimized by designing a filter. An AHRS (Attitude and heading reference system) sensor is used for measuring the state of the robot. The measured signals are analyzed using the FFT method to investigate the fundamental vibrational frequency with respect to the flywheel's speed of the gimbal system. The IIR notch filter is then designed to suppress the vibration at the identified frequency. After simulating the performance of the designated filter using the measured sensor data through extensive experiments, the filter is actually implemented in a single-wheel mobile robot, GYROBO. Finally, the performance of the designed filter is confirmed by performing the balancing control task of the GYROBO system.

• The Journal of Korea Robotics Society
• /
• v.6 no.3
• /
• pp.284-291
• /
• 2011

This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.

• The Journal of Korea Robotics Society
• /
• v.17 no.2
• /
• pp.183-190
• /
• 2022

Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.4
• /
• pp.412-417
• /
• 2014

This paper presents the development and control of an omni-directional holonomic mobile robot platform, which is equipped with three lateral orthogonal-wheel assemblies. Omni-directionality can be achieved with decoupled rotational and translational motions. Simulation studies on collision avoidance are conducted. A real robot is built and its hardware is implemented to control the robot. Control algorithm is embedded on DSP and FPGA chips. Hardware for motor control such as PWM, encoder counter, serial communication modules is implemented on an FPGA chip. Experimental studies of following joystick commands are performed to demonstrate the functionality and controllability of the robot.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.8
• /
• pp.1023-1028
• /
• 2010

Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components.