• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.595-596
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.979-980
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.983-984
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• 2009

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.421-426
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• 2015

Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.888-894
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• 2016

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• Journal of the Korean Society of Industry Convergence
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• v.16 no.4
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• pp.141-145
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• 2013

This paper is the development of industrial robotic hand system and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1201-1206
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• 2007

Robot simulation technique is essential not only for robot developers to design robotic systems but also for robot operators to predict robot motion, configure system layout, and increase robot ability. However, commercial robot simulation software such as ROBCAD, IGRIP, and so on are expensive and sometimes they are difficult to customize into industrial purpose programming for users. Therefore, user-based simulation programming is required to magnify the efficiency of robot system. In this paper, we show the methodology of developing user-based robot simulation programming using PC(personal computer), Open-Inventor, and Windows Programming. The developed programming has been successfully applied to welding robot systems of a shipbuilding industry. Also, the methodology presented here can be easily extended to simulate manipulators of other typed mechanism on user's PC.