• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.193-194
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• 2010

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.441-442
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• 2011

• 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.

• 한국정밀공학회지
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• 제21권4호
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• pp.120-131
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• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.

• International Journal of Advanced Culture Technology
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• 제11권1호
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• pp.165-170
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• 2023

This study focuses on the development of intelligent combat robot systems for future warfare. The research is structured as follows: First, the introduction presents the rationale for researching intelligent combat robots and their potential to become game changers in future warfare. Second, in the context of the intelligent robot paradigm, this study proposes the need for military organizations to innovate their combat concepts and weapon systems through the effective utilization of Artificial Intelligence, Cognitive, Biometric, and Mechanical technologies. This forms the theoretical background of the study. Third, the analysis of intelligent robot systems considers five examples: humanoid robots, jumping robots, wheeled and quadrupedal pack robots, and tank robots. Finally, the discussion and conclusion propose that intelligent combat robots should be selected as game changers in military organizations for future warfare, and suggest further research in this area.

• 로봇학회논문지
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• 제19권1호
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• pp.53-57
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• 2024

A hopping robot can move through a confined environment while overcoming obstacles. To create a small hopping robot, it must be able to generate a large amount of energy and release it at the same time. However, due to the small size of the robot, there is a limit to the size of the actuator that can be used, so it is mainly used to collect energy in an elastic element and release it at once. In this paper, we propose a small hopping robot with a simplified design by removing ancillary parts and enabling continuous hopping using only a small actuator based on a direct-drive method. In addition, repeated actuation over the rated voltage can cause thermal breakdown of the actuator. To check the safety of the actuator at high voltage, we perform modeling to predict the temperature of the actuator and verify the accuracy of the modeling through experiments.

• Journal of Electrical Engineering and Technology
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• 제1권2호
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• pp.200-210
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• 2006

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

• 한국정밀공학회지
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• 제24권2호
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• pp.64-72
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• 2007

Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio of the humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi-and mono-articular muscles, and the joints of knee and ankle are redundantly actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.

• 한국항행학회논문지
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• 제18권2호
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• pp.134-141
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• 2014

이동로봇의 주행에는 주로 바퀴 엔코더, 비전, 초음파, 레이저 센서가 많이 사용된다. 바퀴의 엔코더는 추측항법으로 시간에 따라 오차가 누적되기 때문에 단독 사용으로는 정확한 로봇의 위치를 계산할 수가 없다. 비전 센서는 풍부한 정보를 제공하지만 정보추출에 시간이 많이 소요되고, 초음파 센서는 거리정보의 정확도가 떨어지기 때문에 항행에 사용하기에는 어려움이 있다. 반면 레이저 센서는 비교적 정확한 거리정보를 제공하여 주므로 주행 센서로 사용하기 적합하다. 본 논문에서는 레이저 거리계에서 각도를 추출하는 방법을 제안하고 칼만 필터를 사용하여 레이저 거리계에서 추출한 거리 및 각도와 바퀴 엔코더에서 추출한 거리 및 각도에 대한 정합을 수행한다. 일반적으로 레이저 거리계 사용시 특징점 하나를 사용한 경우에 그 특징점이 변하거나 새로운 특징점으로 이동할 때 오차가 커질 수가 있다. 이를 보완하기 위해 이동 로봇의 주행 시 레이저 스캐너에서 두 개의 특징점들을 사용하는 방법을 사용하여 이동 로봇의 항법 성능이 향상됨을 보인다.