• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.8
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• pp.856-866
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• 1992

In this paper, the graphic simulation system Is presented which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi robot motions, two problems are described. First problem is that all the robot motions must be determined using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. There ore, robot motions can be easily modifiable with #he various object motions. This type of motion determination Is different from that of the master-slaves method using the master robot motions.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1900-1908
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of human and robots is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly through obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between human and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction between humans and robots, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.124-127
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• 1997

In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B lymphocyte(B cell), each environmental condition as an antigen, and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is simulated and suppressed by other robot using communication. Finally much simulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.608-611
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• 1997

The soccer robot system consists of multi agents, with highly coordinated operation and movements so as to fulfill specific objectives, even under adverse situation. The coordination of the multi-agents is associated with a lot of supplementary work in advance. The associated issues are the position correction, prevention of communication congestion, local information sensing in addition to the need for imitating the human-like decision making. A control structure for soccer robot is designed and several behaviors and actions for a soccer robot are proposed. Variable zone defense as a basic strategy and several special strategies for fouls are applied to SOTY2 team.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.106-111
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• 2008

This paper presents a decentralized coordination for a small-scale mobile robot teams performing a task through cooperation. Robot teams are required to generate and maintain various geometric patterns adapting to an environment and/or a task in many cooperative applications. In particular, all robots must continue to strive toward achieving the team's mission even if some members fail to perform their role. Toward this end, given the number of robots in a team, an effective coordination is investigated for decentralized formation control strategies. Specifically, all members are required first to reach agreement on their coordinate system and have an identifier (ID) for role assignment in a self-organizing way. Then, employing IDs on individual robots within a common coordinate system, a decentralized neighbor-referenced formation control is realized to generate, keep, and switch between different geometric shapes. This approach is verified using an in-house simulator and physical mobile robots. We detail and evaluate the formation control approach, whose common features include self-organization, robustness, and flexibility.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.1-30
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• 2001

This paper describes a new cooperative strategy for two wheelchairs to climb a step. These two wheelchairrobots are connected with a simple linkage mechanism between the rear of one wheelchair and the front of another. Two wheelchair robots climb a step one after the other. In this research, We did not use a method by Which a robot lifts up and supports its weight using any special actuator but a method of handling the robot's moment of rotation by the force of the link which come from the assisting robot. This method is especially influenced by the height of the two robot's link positions. So we study this method from the viewpoint of changing the two-link positions....

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• Journal of The Korean Association of Information Education
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• v.18 no.4
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• pp.499-508
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• 2014

Developing Computational Thinking is getting attention as the importance of SW is emphasized. Also programming education is getting attention, especially, various researches that utilize robot in programming education are being carried out. This study focused on compensating the defects of the prior robot programming education and exploring the way of utilizing web based tool 2.0 while putting emphasis on communication and cooperation. This plan is based on $Gagn{\acute{e}}$ & Briggs nine events of instruction and can be used to implement cooperative learning with the Web 2.0 based tools at every instructional events. Tests for learner's cooperation were done before and after this new plan to evaluate its value. The result proves that this plan had a positive influence on improving learner's cooperative attitude.

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.6
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• pp.627-633
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• 1999

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. These features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For applying immune system to DARS, a robot is regarded as a ？3-cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. When the environmental condition (antigen) changes, a robot selects an appropriate behavior strategy (antibody). And its behavior strategy is stimulated and suppressed by other robot using communication (immune network). Finally much stimulated strateby is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and immune network hypothesis, and it is used for decision making of optimal swarm strategy. Adaptation ability of robot is enhanced by adding T-cell model as a control parameter in dynamic environments.