• 로봇학회논문지
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• 제3권3호
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.575-581
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• 1993

This paper deals with analysis of articulated robot manipulator used for Arc welding and Material handling. Compared with present robot of which weight holding capacity is 6kg, this robot shows wider and symmetric working range for it's serial type mechanism. The link length is determined to have widest working range by using optimal simulation. To reduce body's weight, small AC servo motor is adopted and driving peak torque exerted at each joint is reduced by using dynamic analysis. So it is possible to reduce body's weight by 40% compared with the same class's robot and get wider working range. And by adopting modular design concept, each axis is designed to be changed easily for user's special need and repair.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.15-18
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.361-367
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• 2010

This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.

• Journal of Advanced Marine Engineering and Technology
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• 제33권5호
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• pp.662-671
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• 2009

In this paper, a robot was developed for in-pipe cleaning and inspecting a large number of circular in-pipes of sea plants, ships, and buildings. A pressure generation mechanism was devised to inspect circular in-pipes with different diameters and to move up and down slant or perpendicular slopes in-pipes. For inspection of the dark inner side of the pipe, a light system using LED which dissipats small electricity was developed. Also, a design method was analyzed to decide the capacity of driving motor for the robot when the mass and maximum velocity of the robot are identified. The robot developed based on the design specification, was tested to verify the performance of the pressure generation mechanism. In addition, a control system was developed for the test.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.267-267
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 한국지능시스템학회논문지
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• 제19권1호
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• pp.108-114
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• 2009

본 논문에서는 3차원 작업 환경에서 휴머노이드 로봇의 행동 프리미티브를 이용한 행동 계획 방법을 제안하였다. 또한 휴머노이드 로봇이 효과적으로 다양한 작업을 수행하기 위하여 행동 프리미티브를 정의하였다. 행동 프리미티브를 이용함으로써 다양한 장애물을 갖는 복잡한 작업 환경에서 로봇에 장착한 센서로 외부 환경 정보를 받아들이고 이를 이용하여 실시간 대응 및 작업이 가능하도록 하였다. 제안한 행동 계획방법은 임베디드 비전 시스템을 사용한 휴머노이드 로봇을 실제 제작하여 실험을 통해 성능을 검증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2411-2413
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• 2003

A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2005년도 추계 학술대회 발표논문집
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• pp.117-120
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• 2005

This paper suggests an algorithm that can estimate the direction of the sound source in realtime. Our intelligent service robot, WEVER, is used to implement the proposed method at the home environment. The algorithm uses the time difference and sound intensity information among the recorded sound source by four microphones. Also, to deal with noise of robot itself, the kalman filter is implemented. The proposed method takes shorter execution time than that of an existing algorithm to fit the real-time service robot. The result shows relatively small error within the range of ${\pm}$ 7 degree.