• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1791-1792
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• 2008

휴머노이드 로봇은 기구적으로 불안정성을 내포하고 있기 때문에 이것에 대한 안정화를 하기 위해서 연구자들은 많은 방법을 사용하고 있다. 본 연구자는 실험 계획법(Design of Experiments)을 통해 본 연구자가 개발한 ISHURO-II의 발의 설계를 변경하였다. 퍼지 알고리즘을 이용하여 아랫부분에 장착된 FSR(Force Sensing Resistor)센서에서 ZMP(Zero Moment Point)의 값을 비교하여 더욱 안정된 보행이 가능하도록 하였다. 적용된 안정화 알고리즘의 성능은 VC++ 및 동역학 해석 프로그램을 이용한 시뮬레이션을 통해 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2132-2137
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• 2005

This paper is concerned with computer simulations of a biped robot walking in dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a kinematically ingenious design. Specific walking patterns are off-line generated meeting stability based on the ZMP condition. Subsequently, to verify whether the robot can walk as planned, a multi-body dynamics CAE code has been applied to the corresponding joint motions determined by inverse kinematics. In this manner, complex mass effects could be accurately evaluated for the robot model. As a result, key parameters to successful gaits are identified including inherent characteristics as well. Also, joint actuator capacities are found required to carry out those gaits.

• Journal of Ocean Engineering and Technology
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• v.21 no.2 s.75
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• pp.67-74
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• 2007

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI (Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2 m in length, 0.17 m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMI as a test-bed AUV platform.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.347-350
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• 2006

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI(Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2m in length, 0.17m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMi as a test-bed AUV platform.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.2
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• pp.173-178
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• 2017

As research on the practical use of robots has continued since the past, advancements into each field of society are being continuously tried in modern society, breaking bounds from the previous experimental environment. However, in order for robots to be applied to the real environment, the production cost, which is considered to be the biggest disadvantage of commercializing the existing robot platform, and the adaptability issue in working environments in terms of human standards must be considered. This paper proposes a robot of biped walking form, which conforms to the degree of freedom and the size of human beings. By replacing the encoder with a combined module of potentiometer, the high cost of production is reduced, and by adopting a modular design that is easy to replace parts, the maintenance cost of robots is reduced. Finally, stability was verified by applying a walking pattern to two dummy robots of different sizes and motor arrangements. In this paper, after developing the real biped walking robots, the performance and usability were verified through walking experiments and applying the walking pattern using the developed robots.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.643-652
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• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.5
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• pp.548-552
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• 2015

In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.48-54
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• 2007

A network-based robot [1] is a robot that explores service servers in the network environment for analyzing sensor data and making decision. Since network-based robot architecture was proposed, it's possible to reduce costs of robots. We hope robots would be all around at home environment. Therefore, normal users who are not experts need to be able to control those robots by using easy commands. We developed a scripting language, named CCSLR, to help users and developers who control various robots in ubiquitous environment. We focused on how to design the common language for various robots and how to translate a CCSLR script into a sequence of low-level commands of the target robot. In this paper, we propose scripting methods, with three layers. The CCSLR system reads the profile information from the knowledge representation database. Users don't have to know all about kinematical and mechanical details of a robot. Then again, the CCSLR system will use the profile information to translate the script into separated executable library commands. The CCSLR system manages robot's changing state every time a robot executes a command.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.573-579
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• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1825-1826
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• 2008

본 논문은 3D 기반 시뮬레이터를 이용한 새로운 휴머노이드 로봇 개발 플랫폼 설계에 관한 연구이다. 높은 자유도의 휴머노이드 로봇의 빠르고 쉬운 개발을 위해서는 편리하며 개발에 효율적인 시뮬레이터 개발 플랫폼이 필수적이다. 실제 로봇 제어를 고려한 새로운 3D 기반의 시뮬레이터 설계 및 구조를 제시한다. 또한, 휴머노이드 로봇의 주어진 임무 수행시 실제 로봇의 움직임에 따른 대상 물체의 탐지 및 실시간 시뮬레이터에의 적용에 의한 로봇 동작 제어 방법을 제시한다. 본 연구의 시뮬레이터의 효율성 및 정확성은 시뮬레이션 및 실제 로봇을 이용한 실험을 통하여 확인한다.