• 제어로봇시스템학회논문지
• /
• 제12권6호
• /
• pp.573-579
• /
• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• Journal of Construction Engineering and Project Management
• /
• 제6권2호
• /
• pp.30-39
• /
• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• 로봇학회논문지
• /
• 제16권4호
• /
• pp.327-335
• /
• 2021

In this paper, we propose an embedded robot system based on "ROS2 on Yocto" that can support various robots. We developed a lightweight OS based on the Yocto Project as a next-generation robot platform targeting cloud robotics. Yocto Project was adopted for portability and scalability in both software and hardware, and ROS2 was adopted and optimized considering a low specification embedded hardware system. We developed SLAM, navigation, path planning, and motion for the proposed robot system validation. For verification of software packages, we applied it to home cleaning robot and indoor delivery robot that were already commercialized by LG Electronics and verified they can do autonomous driving, obstacle recognition, and avoidance driving. Memory usage and network I/O have been improved by applying the binary launch method based on shell and mmap application as opposed to the conventional Python method. Finally, we verified the possibility of mass production and commercialization of the proposed system through performance evaluation from CPU and memory perspective.

• 한국정밀공학회지
• /
• 제29권8호
• /
• pp.845-852
• /
• 2012

The diaphragm-type stylus probe was developed for ultra-precision on-machine measurement (OMM) application. This probe is equipped with two diaphragms which are parallel and one capacitive sensor is used for detecting the vertical motion of end tip in the stylus when it is contacted to the optical freeform surface. For better performance of proposed probes, several design parameters such as axial stiffness and the lateral deformations were investigated with finite element analysis techniques. To verify the feasibility, the profiles of the master sphere ball were measured on the ultra-precision milling machine. The measurement results show that the proposed probe can calculate the radius of the circle within the accuracy of 0.1 ${\mu}m$ for the ultraprecision optical surface.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2325-2330
• /
• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 대한인간공학회지
• /
• 제33권5호
• /
• pp.407-422
• /
• 2014

Objective: The purpose of the study is to develop quantitative usability evaluation criteria for senior-friendly autonomous transportation robot. Background: The Republic of Korea has become the most rapidly aging society, and is anticipated to enter the post-aged society in 2026. To raise the quality of life of a senior with limited mobility and to reduce the burden of caregivers, many high-tech assistive products with information technologies are developed nowadays. The senior-friendly autonomous transportation robot is one person robot vehicle to move a senior to the destination for hospitals, nursing homes or silver town complex. With built-in navigation system and environmental monitoring censors, it automatically seeks the path to the destination and avoids collision to obstacles and pedestrians on the way. Due to the early stage of the product, few usability studies in this field have been done, mostly on general service robots to assist seniors, power wheelchairs and delivery robots. ISO and KS standards for the service robots are focused on safety. Method: Based on the reference usability index, the early draft of the usability evaluation questionnaires was developed. After small group tests and interviews, the experts modified the initial draft to the Usability Evaluation Criteria for Senior-Friendly Autonomous Transportation Robot (UEC-SFATR). Result: UEC-SFATR consisted of 4 subscales - Safety, Controllability, Efficiency and Satisfaction. All of the 4 subscales of UEC-SFATR were passed the reliability criteria by 4 groups of seniors, divided by gender and familiarity of smart-devices. Conclusion: UEC-SFATR covers wider area of user experiences of the SFATR and is a good measurement tool to help both the users and developers of the robot. Application: This study provides guide to the future product development and product competitiveness evaluation by quantifying user experiences for the SFATR.

• 산업기술연구
• /
• 제28권A호
• /
• pp.75-80
• /
• 2008

This paper describes the mechanical and control design of a robotic device for providing therapeutic assistance to arm movement following stroke. This is a new robot for arm therapy applicable to the training of activities of daily living in homes and clinics. This instrument has one degrees of freedom, and is equipped with position and force sensors. Repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. The new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.

• 한국전자통신학회논문지
• /
• 제5권4호
• /
• pp.480-485
• /
• 2010

본 논문에서는 친환경 스마트가전 응용시스템을 위한 모바일 로봇 플랫폼인 Ecobot을 개발하였다. Ecobot은 Zigbee 네트워크로 홈 네트워크를 구성한 친환경 스마트 가전 응용시스템에서 쾌적 환경 감시 및 안내의 역할을 수행한다. 쾌적 환경을 위해 환경 감시 센서가 탑재되어 있으며, Zigbee 네트워크를 통해 스마트 가전기기와 연동하여 스마트 가전기기를 제어하여 쾌적 환경을 유지시킨다. 또한 URG-04LX 레이저 거리 센서를 이용하여 자율주행 및 충돌 회피를 통해 실내 환경을 감시하게 된다.

• 한국지능시스템학회논문지
• /
• 제24권4호
• /
• pp.437-442
• /
• 2014

최근에는 크기 및 비용의 관점에서 많은 장점을 갖는 초소형 해양로봇(Micro Marine Robot : MMR)의 개발 및 적용에 대한 요구가 증가하고 있다. 하지만 국내에서는 그 기반이 매우 부족한 상황이다. 다행히도 초소형 수상로봇(Micro Surface Robot : MSR)의 장애물회피와 관련해서는 크기와 성능의 관점에서 최적화되어 4방향 탐지가 가능한 장애물회피소나(Obstacle Avoidance Sonar : OAS)가 개발되었으나, 제한된 빔폭(beam width) 및 탐지거리를 갖는 고정 소나빔의 사용으로 인하여 장애물의 형상에 따라 탐지성능이 저하되는 문제점이 존재했다. 이러한 문제를 해결하기 위하여, 본 논문에서는 평기어(spur gear) 및 서보모터를 활용하여 회전 소나빔을 구현한 MSR의 메커니즘을 제안하였다. 제안된 메커니즘의 검증을 위해 다각 평면 장애물에 대한 MSR의 벽면 추적(wall-tracking) 문제를 고려하였고, 탐지성능 및 구동명령 측면에서 기존의 고정 소나빔 적용 시와 비교 및 분석을 수행하였다. 실험결과는 제안된 메커니즘의 타당성을 보여준다.

• 한국CDE학회논문집
• /
• 제12권1호
• /
• pp.50-57
• /
• 2007

In recent years, many robotics researches have been focused on developing human-friendly robots, that is, humanoid biped robots. The researches of humanoid robots include various areas such as hardware development, control of biped locomotion, artificial intelligence, human interaction, etc. The present work concerns the hardware development of a mid-size humanoid robot, BONOBO, focusing on rapid development of outer body parts with integrated application if CAD/CAM/CAE/RP. Most parts are three-dimensionally designed using 3D CAD, and effectively connected with CAE analyses using both kinematic simulation and structural analysis. In order to reduce lead time and investment cost for parts developments, Rapid Prototyping (RP) and CAM are selectively utilized for manufacturing body parts. These master parts are then replicated using the vacuum casting process, from which we can obtain plastic parts repeatedly. Through this integrated approach, the first prototype of BONOBO can be successfully developed with relatively low time and investment costs.