• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.97-102
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• 2018

A small and lightweight crawling robots have been actively studied thanks to their outstanding mobility and maneuverability. Those robots can navigate into more confined spaces that larger robots are unable to reach or enter such as debris and caves. In this paper, we propose a milli-scale hexapedal robot based on planar linkage design. To make this possible, two necessary conditions for successful crawling are satisfied: thrust force from the ground and aerial phase while running. These conditions are achieved through a newly developed leg design. The robot has a pair of legs and each leg has three feet. Those feet alternatively moves based on 1DOF planar linkage. This linkage is installed at each side of the robot and finally the robot shows the alternating gait and aerial phase during running. As a result, the robot runs with the crawling speed of 0.9 m/s.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.12
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• pp.1095-1102
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• 2016

This paper presents the results of the design, fabrication and tether test for a gross weight 20 kg tilt-duct VTOL aerial robot. The tilt-duct vehicle, a tri-ducts air-vehicle, which composed of two main tilt ducts for thrust and an aft-fan for pitch attitude control, has been developed as an aerial platform. The research on the air vehicle has been focused on the hover characteristics and controllability to improve the thrust and stability. The tether test for measuring various performance of vehicle and evaluating controllability have been carried out to figure out effects of modified main-prop linkage, actuator, duct configuration and control surfaces.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.718-723
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• 2015

This paper describes the conceptual platform design of a dual-capable robot for both driving on the ground and flying in the air. The dual-capable robot can move over all types of terrain for both ground and aerial reconnaissance. The main design problem of the robot is how to make a wheel for both driving and flying. The proposed key design concept is a hubless driving wheel that contains a propeller inside for flying in the air. The primary design parameters and initial specifications were confirmed through an examination of the conceptual design, and functional tests were then conducted using a real prototype robot for driving and flying modes. The test results show the feasibility of the proposed design concept.

• Aerospace Engineering and Technology
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• v.13 no.2
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• pp.1-6
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• 2014

Power system of the tilt-duct VTOL aerial robot has been developed. This paper focuses on the power train with small liquid-type engine for the R/C boat and presents the test results with design procedures. The hardware aspects of the power system include details about the hardware configurations for the interfaces with the vehicle. The ground test and tether test for measuring the thrust performance of vehicle and evaluating the endurance of power train carried out.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.245-250
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• 2019

Milli-scale crawling robots have been widely studied due to their maneuverability in confined spaces. For successful crawling, the crawling robots basically required to fulfill alternating gait with elliptical foot trajectory. The alternating gait with elliptical foot trajectory normally generates both forward and upward motion. The upward motion makes the aerial phase and during the aerial phase, the forward motion enables the crawling robots to proceed. This simultaneous forward and upward motion finally results in fast crawling speed. In this paper, we propose a novel alternating mechanism to make a crab-inspired eight-legged crawling robot. The key design strategy is an alternating mechanism based on double four-bar linkages. Crab-like robots normally employs gear-chain drive to make the opposite phase between neighboring legs. To use the gear-chain drive to this milli-scale robot system, however, is not easy because of heavy weight and mechanism complexity. To solve the issue, the double-four bar linkages has been invented to generate the oaring motion for transmitting the equal motion in the opposite phase. Thanks to the proposed mechanism, the robot crawls just like the real crab with the crawling speed of 0.57 m/s.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.101-106
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• 2010

Researches on air-ground robot cooperating system has been made recently. The cooperation among homogeneous robots focused on the architecture of the system, quality and influence of the communication. In contrast, the cooperation among heterogeneous robots such as aerial vehicle and ground vehicle robots has not been much handled. There are a couple of main points for those air-ground cooperating robots. One is using UAV (Unmanned Aerial Vehicle) as an extra sensor of UGV (Unmanned Ground Vehicle). This kind of application is usually used in situations such as guiding UGV to an appropriate path which could be better determined from the eye in the sky as UAV. The other main application of air-ground cooperating robot system is the localization. By combining sensor information from both UAV and UGV, the robot system as a whole can localize a target object or find features in the environment with better performance than UGV or UAV alone. Although these applications are recently studied in many different ways and devices, there are still a lot of possibilities in the field of air-ground cooperating robot systems. We introduce those research fields in this paper.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.97-107
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• 2011

This paper describes efficient flight control algorithms for building a reconfigurable ad-hoc wireless sensor networks between nodes on the ground and airborne nodes mounted on autonomous vehicles to increase the operational range of an aerial robot or the communication connectivity. Two autonomous flight control algorithms based on adaptive gradient climbing approach are developed to steer the aerial vehicles to reach optimal locations for the maximum communication throughputs in the airborne sensor networks. The first autonomous vehicle control algorithm is presented for seeking the source of a scalar signal by directly using the extremum-seeking based forward surge control approach with no position information of the aerial vehicle. The second flight control algorithm is developed with the angular rate command by integrating an adaptive gradient climbing technique which uses an on-line gradient estimator to identify the derivative of a performance cost function. They incorporate the network performance into the feedback path to mitigate interference and noise. A communication propagation model is used to predict the link quality of the communication connectivity between distributed nodes. Simulation study is conducted to evaluate the effectiveness of the proposed reconfigurable airborne wireless networking control algorithms.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.160-162
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• 2012

최근 무인항공기 분야에서 전력원으로 신재생에너지를 사용하기위한 연구가 진행되고 있다. 무인항공기의 전력원은 무게에 매우 민감하기 때문에 상대적으로 가벼운 태양전지를 많이 사용하고 있다. 본 논문은 태양전지와 2차전지를 동력원으로 사용하는 틸트-로터형 태양전지 탑재 공중로봇(GAORI)의 플랫폼 및 소프트웨어 설계와 향후 연구방향에 대하여 설명한다.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.101-107
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• 2007

A coaxial rotor flying robot is developed for surveying and reconnoitering various circumstances under calamity environment. The robot has two contrarotating rotors on a common axis, an embedded microcontroller, an IMU(Inertial Measurement Unit), an IR sensor for height control, a micro camera for surveillance, ultrasonic position sensors and wireless communication devices. A bell-bar mounted on the top of the upper rotor hub increases stability and improves flight performance. In this paper, we present a dynamic model of a coaxial rotor flying robot and design an embedded controller far the robot, and implement them to control the developed flying robot. Experimental results show that the proposed controller is valid for autonomous hovering and position control.