• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.323-329
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• 1994

In the systems such as walking robots or high speed operating manipulators, the effect of nonlinear terms is important and can not be neglected. Therefore the application of linear control law to such systems is inadequate. Moreover, because of the mathematical modeling errors the systems may become unstable. In this study, we designed a nonlinear controller with sliding mode scheme, which is robust to the modeling errors and applied this control algorithm to the 5 DOF biped robot system. Throught the computer simulations, we examined walking characteris and walking stability of the 5 DOF biped robot system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권2호
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• pp.154-161
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• 2012

This article presents experimental studies of fuzzy logic application to control a two-wheel mobile robot(TWMR) system. The TWMR system is composed of two systems, an inverted pendulum system and a mobile robot system. Although linear controllers can stabilize the TWMR, fuzzy controllers are expected to have robustness to uncertainties so that the resulting performances are expected to be better. Nominal fuzzy rules are used to control balance and position of TWMR. Fuzzy logic is embedded on a DSP chip to control the TWMR. Balancing performances of the PID controller and the fuzzy controller under disturbances are compared through extensive experimental studies.

• 대한전기학회논문지
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• 제38권11호
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• pp.950-957
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• 1989

We have shown how unstructured modeling was used to derive a general stability condition in Part 1. In Part 2, we focus on the particular dynamics (structured modiling) of the robot manipulator and environment. Using rigid body dynamics, the stability condition for the direct drive robots has been achieved in terms of the Jacobian and robot tracking controller. Combining the structured and unstructured modeling, a stability condition for a particular application can be obtained. This approach has been used to analyze compliant motion on the University of Minnesota robot using a feedforward torque controller. We have obtained a stability condition for this application. Through both simulation and experiment, the sufficiency of this condition has been demonstrated. For a sufficient stability condition, recall that if the condition is satified, then the stability is guaranteed` however, if the condition is violated, no conclusion can be made.

• Journal of Information Processing Systems
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• 제8권3호
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• pp.471-482
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• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• 전기학회논문지
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• 제57권4호
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• pp.686-691
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• 2008

This paper proposes the concept of "virtual sensor data" and its application for real time obstacle avoidance. The virtual sensor data is virtual distance which takes care of the movement of the obstacle as well as that of the robot. In practical application, the virtual sensor data is calculated from the odometry data and the range sensor data. The virtual sensor data can be used in all the methods which use distance data for collision avoidance. Since the virtual sensor data considers the movement of the robot and the obstacle, the methods utilizing the virtual sensor data results in more smooth and safer collision-free motion.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.258-260
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• 2004

The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. Unfortunately, CAN, in its current form, is not able to either share out the system bandwidth among the different devices fairly or to grant an upper bound on the transmission times experienced by the nodes connected to the communication medium as it happens, for instance, in the token-based networks. In this paper, we present An Application Layer Design for Humanoid Robot in the CAN. Besides introducing the new algorithm, this paper also presents some performance figures obtained using a specially developed software simulator and experimentation for composition of CAN which uses JTAG mode of a parallel debugging., while the behavior of the new algorithm is compared with the traditional CAN systems. in order to see how effective they are.

• 로봇학회논문지
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• 제15권3호
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• pp.256-268
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• 2020

This study is about a design method for deriving task safety scenarios for the application of collaborative robots. A five-step process for deriving task safety scenarios for collaborative robots has been proposed, which focuses on the type of collaboration between human and collaborative robot. The three types of collaboration were classified according to the collaboration workspace and the worktime of human and collaborative robot. Based on these three types of collaboration, task safety scenarios include scenarios that predict risk from unintended use during work. Collaboration with collaborative robot is a human-centered process because human actions can create dangerous situations. Besides, we improved the understanding of this design methodology by presenting examples of the application of task safety scenarios according to the process for each type of collaboration.

• 정보교육학회논문지
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• 제18권3호
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• pp.443-452
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• 2014

본 연구는 초 중학교에 체계적인 로봇교육을 정착시키기 위해 로봇교육과정을 개발하였다. 문헌연구로 영국, 미국 그리고 우리나라의 로봇교육과정 관련 사례를 조사한 후 로봇교육내용 선정 및 조직에 고려하였다. 개발된 로봇 교육과정은 로봇기초, 센서, 구조/운동, 제어, 문제해결의 5가지 영역으로 구성되었으며 로봇체험, 로봇창작, 로봇탐구, 로봇제어의 4단계로 이루어졌다. 단계별 학습내용은 난이도와 계열성을 고려하여 심화반복 활동을 경험할 수 있도록 하였다. 본 연구는 초 중학생들에게 체계적으로 로봇교육을 실시할 수 있는 기반을 마련할 것이다. 향후 개발된 로봇교육과정을 기초로 현장 적용이 가능한 다양한 프로그램의 개발 및 적용에 대한 후속 연구가 기대된다.

• 로봇학회논문지
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• 제3권4호
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• pp.278-286
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• 2008

Reliable functionalities for autonomous navigation and object recognition/handling are key technologies to service robots for executing useful services in human environments. A considerable amount of research has been conducted to make the service robot perform these operations with its own sensors, actuators and a knowledge database. With all heavy sensors, actuators and a database, the robot could have performed the given tasks in a limited environment or showed the limited capabilities in a natural environment. With the new paradigms on robot technologies, we attempted to apply smart environments technologies-such as RFID, sensor network and wireless network- to robot functionalities for executing reliable services. In this paper, we introduce concepts of proposed smart environments based robot navigation and object recognition/handling method and present results on robot services. Even though our methods are different from existing robot technologies, successful implementation result on real applications shows the effectiveness of our approaches.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1764-1768
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• 2004

In the near future, robots will be used for the personal use. To provide useful services to humans, it will be necessary for robots to understand human intentions. Consequently, the development of emotional interfaces for robots is an important expansion of human-robot interactions. We designed and developed an intelligent emotional interface for the robot, and applied the interfaces to our humanoid robot, AMIET. Subsequent human-robot interaction demonstrated that our intelligent emotional interface is very intuitive and friendly