• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.4-30
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• 2001

In this paper, design and integration of a newly developed double-tracked mobile robot called ROBHAZ-DT are introduced. It is designed to carry out military and civil missions in various hazardous environments such as the areas of fire, war, disaster and mine field etc. ROBHAZ-DT is configured with three mechanical bodies, namely front, rear and main body. By using its rotational passive adaptation mechanism equipped between the front and rear bodies, ROBHAZ-DT shows a good mobile capability on uneven terrain including stairs. The passive adaptation mechanism reduces energy consumption and offers simplicity in the design of the ROBHAZ-DT ...

• Journal of KIISE:Software and Applications
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• v.30 no.11
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• pp.1092-1101
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• 2003

Most of 3D character animation adjusts the gait of their characters for various terrains, using motion capture data through the motion capture equipments. This motion capture data can be naturally presented as real human motions, which are to be adjusted according to the various types of terrain. In addition, there would be a difficulty applying motion capture data for other characters in which the motion data will be captured again or edited for the existing motion data. Therefore, this paper proposes a method that is to generate walking motion for various terrains, such as flat, inclined plane, stair, and irregular face, and a method that is to calculate the trajectory of the swing leg and pelvis. These methods are able to generate various gaits controlled by the parameters of body height, walking speed, stride, etc. In addition, the positions and angles of joint can be calculated by using inverse kinematics, and the cubic spline will be used to calculate the trajectory of the joint.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.46-53
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• 2007

This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

• Journal of Sensor Science and Technology
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• v.16 no.3
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.546-551
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• 2011

Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.72-81
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• 2009

The purpose of this paper is to accomplish the stable humanoid robot walking on the soft terrains. The goal of the humanoid robot development is to make the robotic system perform some tasks in human living environment. However, human dwelling environments are very different from those of laboratories, where varied experiments are performed by the robot. In many cases, the ground is soft or elastic unlike the floor of a laboratory. When a robot walks on the soft ground, the sole of robot contacts the uneven ground. This results in unstable walking or walking may be impossible according to the degree of softness. Therefore, the algorithm that facilitates stable walking on the soft ground surface is required. In this paper, we suggest an algorithm that controls the ankle to help the robot walk stably on the soft ground using the humanoid robot (ISHURO-II) as a real model. A humanoid robot walking on the soft ground was simulated to verify that the proposed algorithm results in stable walking.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.83-91
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• 2016

Most of outdoor mobile robots have a suspension on each wheel in order to relieve the shock by ground obstacles and to improve the driving stability. Typically, in the actual operations, the suspensions have been used under a given set of conditions as all the damping and spring coefficients of the suspensions are fixed. However, it is necessary to readjust the coefficients of the suspensions according to surface conditions that may cause the unstable shaking of a robot body at high speed driving. Therefore, this paper is focused on the mobility analysis of an outdoor robot when the coefficients of suspensions (in particular, damping coefficients) are changed while driving on an uneven road surface. In this paper, a semi-active suspension with twelve damping coefficient levels was used and a small sized vehicle with the suspensions was employed to analyze the mobility dependent on a change of the damping coefficient. And the mobility was evaluated through driving experiments on a bumped slope.

• Journal of Korean Society of Water and Wastewater
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• v.23 no.2
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• pp.223-230
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• 2009

Most urban water management systems are becoming vulnerable to flooding and drought due to the climate change (CC), urbanization and energy shortage. Despite of poor water management circumstances caused by extremely uneven annual rainfall and hilly terrain, traditionally we have made a sound and sustainable life based on our own philosophy and technologies which copes with our rigid environment. In this study a new paradigm of rainwater management is suggested and multipurpose and creative rainwater harvesting and management (RWHM) systems are introduced providing several case studies such as rainfall storage drainage (RSD) system, rainwater infiltration facilities and star city RWHM system. This new RWHM paradigm leads Seoul Metropolitan Government (SMG) in the Republic of Korea to change regulations and politics for the integrated RWHM. Finally, RWHM is expected to improve the safety, efficiency, energy consumption of urban water infrastructure, to reduce urban heat island phenomenon and, furthermore, to contribute in finding solutions for worldwide water issues and to adapt CC.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.9
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• pp.3120-3137
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• 2021

Small-sized IoT wireless sensing devices can be deployed with small aircraft such as drones, and the deployment of mobile IoT devices can be relocated to suit data collection with efficient relocation algorithms. However, the terrain may not be able to predict its shape. Mobile IoT devices suitable for these terrains are hopping devices that can move with jumps. So far, most hopping sensor relocation studies have made the unrealistic assumption that all hopping devices know the overall state of the entire network and each device's current state. Recent work has proposed the most realistic distributed network environment-based relocation algorithms that do not require sharing all information simultaneously. However, since the shortest path-based algorithm performs communication and movement requests with terminals, it is not suitable for an area where the distribution of obstacles is uneven. The proposed scheme applies a simple Monte Carlo method based on relay nodes selection random variables that reflect the obstacle distribution's characteristics to choose the best relay node as reinforcement learning, not specific relay nodes. Using the relay node selection random variable could significantly reduce the generation of additional messages that occur to select the shortest path. This paper's additional contribution is that the world's first distributed environment-based relocation protocol is proposed reflecting real-world physical devices' characteristics through the OMNeT++ simulator. We also reconstruct the three days-long disaster environment, and performance evaluation has been performed by applying the proposed protocol to the simulated real-world environment.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.1 s.190
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• pp.27-36
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• 2007

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 mm and the height should be below 40mm. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching straingages on the sensing elements, finally, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.