• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.286-292
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• 2009

This paper proposes a knee-wearable robot system for assisting the muscle power of human knee by processing EMG (Electromyogram) signals. Although there are many muscles affecting the knee joint motion, the rectus femoris and biceps femoris among them play a core role in the extension and flexion motion, respectively, of the knee joint. The proposed knee-wearable robot system consists of three parts; the sensor for measuring and processing EMG signals, controller for estimating and applying the required knee torque, and actuator for driving the knee-wearable mechanism. Ultimately, we suggest the motion control method for knee-wearable robot system by processing the EMG signals of corresponding two muscles in this paper. Also, we show the effectiveness of the proposed knee-wearable robot system through the experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.954-962
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• 2002

In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.4-161
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• 2001

This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.355-355
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• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.3
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• pp.60-69
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• 1993

The speed control associated with dc servo motors for direct-drive applications of mobile robot is considered in this study. Robot is moved by power wheeled steering of two dc servo motors mounted to it. In order to cooperate with micro-computer and to achieve the high-performance operation of dc servo motor, speed control system is composed of a digital Phase Locked Loop and H-type drive circuit. And the motor is driven by Pulse Width Modulations. In controlling PWM, it is modified to compose of H-type drive circuit with feedback diodes and switching transistor and design of control sequence so that it may show linear characteristics. As a result, speed characteristics of motor showed linear features. In order to get data on design of PLL control system, the parameters of 80[W[ motor & robot device is measured by simple software control. The PLL speed control system is schemed and designed by leaner drive circuit and measured parameters. A complete speed control system applied to 80[W] dc servo motor showed good linearity, stability and high response. Also, it is verified that the PLL speed control system has good compatibility as a mobile robot driver.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.47-51
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• 1990

In the system of contemporary factory, the frequent generation of robot program reduces the efficiency of robot working. In this study, the SIOPS (Soldering and Insertion Offline Programming System) that automatically generates the robot program is presented. The system can change the parameter about soldering and insertion interactively and generate the robot tool path.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.608-611
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• 2000

We introduce Adaptive Fuzzy Impedance Controller for position and force control when robot contact with environment. Because Robot and environment was always effected by nonlinear conditions, it need to deal with parameter’s uncertainty. For solving this problem, it induced Fuzzy System in Impedance Control so fuzzy system is impedance’s stiffness gain. We apply adaptive fuzzy impedance controller in One-Link Robot System, it shows the good performance on desired position control and force control about contacting with arbitrarily environment.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.377-382
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• 2005

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.