• 한국산학기술학회논문지
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• 제21권4호
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• pp.356-361
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• 2020

소형의 다리형 주행 로봇은 몸체의 크기 대비 바퀴주행보다 높은 장애물을 극복할 수 있다는 장점이 있다. 이러한 이점을 활용하여 다양한 형태의 다리 주행 소형 로봇이 개발되었다. 본 논문에서는 기존의 단면 주행을 넘어 양면 주행이 가능한 12족 생체모사 크롤링 로봇을 제안한다. 주행 로봇은 험지 주행 시에 전복되거나 자세가 흐트러지는 경우가 자주 발생한다. 12족 양면 주행로봇은 전복이 되어도 지체 없이 곧바로 주행이 계속 가능하다. 양면 주행을 위한 핵심 메커니즘은 구동부를 공유하는 것이다. 몸체부의 중간에 위치한 힘 전달 구조가 위와 아래에 위치한 모든 다리로 움직임을 전달한다. 이와 같이, 유사한 기능을 수행하는 구조물을 통합하여 구조의 간소화와 경량화를 달성하였다. 또한, 무게를 줄이기 위하여 종이 기반의 복합재를 사용하여 32g의 경량 설계를 수행하였다. 로봇의 성능을 평가하기 위해, 윗면과 아랫면 모두에 대해 주행 테스트를 실시하였다. 그 결과 윗면으로 주행 시 0.52m/s, 아랫면으로 주행 시 0.42m/s의 속력을 보여주어, 양면 모두 성공적인 주행이 가능함을 확인하였다.

• 한국태양에너지학회:학술대회논문집
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• 한국태양에너지학회 2012년도 춘계학술발표대회 논문집
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• pp.404-405
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• 2012

The research of the biological mimics robot which utilizes the operation of the organism and which it applies to the robot is progressed on the ground, aerial, and underwater robot sector. In the field of flying robot, the research for implementing the wing movement structure of the bird and insect is progressed. The joint structure for the wing movement of the bird is implemented. The operation of the wing is simulated. For this purpose, by using the Matlab/Simulink, the joint structure of the wing is modelled. The joint movement of the wing is tested through the simulation.

• 로봇학회논문지
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• 제13권2호
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• pp.97-102
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• 2018

A small and lightweight crawling robots have been actively studied thanks to their outstanding mobility and maneuverability. Those robots can navigate into more confined spaces that larger robots are unable to reach or enter such as debris and caves. In this paper, we propose a milli-scale hexapedal robot based on planar linkage design. To make this possible, two necessary conditions for successful crawling are satisfied: thrust force from the ground and aerial phase while running. These conditions are achieved through a newly developed leg design. The robot has a pair of legs and each leg has three feet. Those feet alternatively moves based on 1DOF planar linkage. This linkage is installed at each side of the robot and finally the robot shows the alternating gait and aerial phase during running. As a result, the robot runs with the crawling speed of 0.9 m/s.

• 한국태양에너지학회 논문집
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• 제32권spc3호
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• pp.269-274
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• 2012

The research of the biological mimics robot which utilizes the operation of the organism is progressed on the ground, aerial, and underwater robot sector. In the field of flying robot, the research for implementing the wing movement structure of the bird and insect is progressed. The joint structure for the wing movement of the bird is implemented. The operation of the wing is simulated. For this purpose, by using the Matlab/Simulink, the joint structure of the wing is modelled. The joint movement of the wing is tested through the simulation.

• 한국기계기술학회지
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• 제20권6호
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• pp.912-916
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• 2018

Crawling robots are advantageous in overcoming obstacles. These robots have characteristics such as light weight and outstanding mobility. In case of large robots, they have difficulties passing narrow gaps or entering the cave. In this paper, we propose a milli-scale hexapedal robot using 4-bar linkages. Two conditions are necessary to enable efficient walking. In short, the trajectory of the foot must be elliptical, and the lowest point of the foot should be the same. These conditions are satisfied with a novel leg design. The robot has a pair of three legs and the legs are coupled to operate simultaneously. Each set of the legs are installed to robot's both sides and the legs satisfy the equal lowest foot point and elliptical trajectory. As a result, this hexapedal robot can crawl with 0.56m/s speed.

• 한국산학기술학회논문지
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• 제21권5호
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• pp.103-110
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• 2020

수중 로봇의 가장 기본 성능이라 할 수 있는 동적 성능인 유영속도와 동적 효율 향상을 위해 수중생물을 모사한 로봇들이 주로 연구되고 있다. 그중에서 생체모사 소프트 로봇은 유연한 꼬리지느러미를 적용함으로써 높은 자유도를 구현할 수 있다. 다만, 유연한 구동부의 효율을 높이기 위해서는 구동 주파수에 맞추어 꼬리지느러미의 강성이 바뀌어야 한다. 따라서, 연구를 통해 새로운 형태의 가변강성 메커니즘을 구현하고, 이를 연구 과정에서 검증하였다. 본 연구에서는 실제 돌고래의 해부도에서 영감을 얻어, 가변강성 메커니즘을 적용한 돌고래 로봇을 새로이 설계하고 제작하는 과정을 기술하였다. 실제 돌고래의 척추 모양을 모사하여, 절삭과 적층형 공정으로 가변강성 구동부를 제작하였다. 로봇 돌고래를 구동하기 위한 텐던도 실제 돌고래의 텐던 위치를 고려하여 배치하였으며, 추가로 강성 변화를 위한 텐던을 설치하였다. 돌고래의 유선형 외형을 모사하여 로봇 돌고래를 제작하였고, 강성 변화에 따른 로봇 돌고래의 유영속도를 측정하였다. 동일한 구동 주파수에 꼬리지느러미 구동부의 강성을 변화시켰을 때, 로봇 돌고래의 유영속도의 차이가 약 1.24배, 추력으로는 약 1.5배 변화하였다.

• 한국정밀공학회지
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• 제30권10호
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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.

• International Journal of Computer Science & Network Security
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• 제21권2호
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• pp.110-119
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• 2021

The Coronavirus or COVID-19 is contagiousness virus that infected almost every single part of the world. This pandemic forced a major country did lockdown and stay at a home policy to reduce virus spread and the number of victims. Interactions between humans and robots form a popular subject of research worldwide. In medical robotics, the primary challenge is to implement natural interactions between robots and human users. Human communication consists of dynamic processes that involve joint attention and attracting each other. Coordinated care involves sharing among agents of behaviours, events, interests, and contexts in the world from time to time. The robotics arm is an expensive and complicated system because robot simulators are widely used instead of for rehabilitation purposes in medicine. Interaction in natural ways is necessary for disabled persons to work with the robot simulator. This article proposes a low-cost rehabilitation system by building an arm gesture tracking system based on a depth camera that can capture and interpret human gestures and use them as interactive commands for a robot simulator to perform specific tasks on the 3D block. The results show that the proposed system can help patients control the rotation and movement of the 3D arm using their hands. The pilot testing with healthy subjects yielded encouraging results. They could synchronize their actions with a 3D robotic arm to perform several repetitive tasks and exerting 19920 J of energy (kg.m².S^-2). The average of consumed energy mentioned before is in medium scale. Therefore, we relate this energy with rehabilitation performance as an initial stage and can be improved further with extra repetitive exercise to speed up the recovery process.

• 로봇학회논문지
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• 제8권2호
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• pp.136-142
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• 2013

In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin', an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, 'torque reversal mechanism'. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea's muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.

• 전기학회논문지
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• 제57권2호
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• pp.320-326
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• 2008

In this paper, we propose a new algorithm emulating the DNA characteristics for noise-tolerant pattern matching problem on digital system. The digital pattern matching becomes core technology in various fields, such as, robot vision, remote sensing, character recognition, and medical diagnosis in particular. As the properties of natural DNA strands allow hybridization with a certain portion of incompatible base pairs, DNA-inspired data structure and computation technique can be adopted to bio-signal pattern classification problems which often contain imprecise data patterns. The key feature of noise-tolerance of DNA computing comes from control of reaction temperature. Our hardware system mimics such property to diagnose cardiovascular disease and results superior classification performance over existing supervised learning pattern matching algorithms. The hardware design employing parallel architecture is also very efficient in time and area.