• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.278-284
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• 2019

Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.6-117
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• 2002

$\textbullet$ Functionally modularized robot $\textbullet$ Free from defects of monolithic system $\textbullet$ Modularization based on Reactive paradigm $\textbullet$ Virtual Machine $\textbullet$ Network topology $\textbullet$ Fractionization of robot development scheme $\textbullet$ Development for commercialization of personal robot

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.364-369
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• 1988

In this study, a model for the simulation of the material flow not only inside a robot cell with flexible handling sequence but also between robot cells is presented. A method for the connection of special simulation programs has been developed and a logic model between a real system and a simulation system is employed.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.5C
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• pp.618-626
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• 2004

In this paper, we describe a robot endeffector recognition system based on a Modular Neural Networks (MNN). The proposed recognition system can be used for vision system which track a given object using a sequence of images from a camera unit. The main objective to achieve with the designed MNN is to precisely recognize the given robot endeffector and to minimize the processing time. Since the robot endeffector can be viewed in many different shapes in 3- D space, a MNN structure, which contains a set of feedforwared neural networks, can be more attractive in recognizing the given object. Each single neural network learns the endeffector with a cluster of training patterns. The training MNN patterns for a neural network share the similar characteristics so that they can be easily trained. The trained UM is les s sensitive to noise and it shows the better performance in recognizing the endeffector. The recognition rate of MNN is enhanced by 14％ over the single neural network. A vision system with the MNN can precisely recognize the endeffector and place it at the center of a display for a remote operator.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.1
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• pp.21-27
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• 2022

Traditional automobile or 2-wheeled robot have limitations on mobility because of their mechanical structure. As traditional automobile is being replaced by electric cars, robot technology is applied to the car industry. In robotics, many researchers worked on omnidirectional mobile robot and produced lots of noticeable results. However in many of the results, specialized wheels such as Mecanum wheels are required. That imposes restrictions on robot speed and outdoor driving. We proposed a 2-wheeled modular robot that has omnidirectional mobility without using specialized wheels. In this paper, we propose a 4-wheeled omnidirectional mobile robot that consists of those two modular robots. The proposed robot adopts electric brakes to combine wheel housings and the robot body or to separate wheel housings from the robot body. Two absolute-type encoders and four incremental encoders are used to control the position of the wheel housing and velocities of the wheels. The proposed robot has omnidirectional mobility and can move fast and outdoor with normal tire wheels. We implemented the proposed robot and the feasibility and stability of the robot is verified by two separate experiments.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.10
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• pp.80-87
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• 2021

Our study introduces an improved modular agricultural platform to provide convenience to agricultural workers. We upgrade the platform design in three parts, namely, by adding a 458 pattern tire, electricity control, and four-wheel steering function, to improve the platform performance. Results showed that the upgrades enhanced the platform performance and reduced its overall weight as compared with the existing platform. To demonstrate the performance of our improved platform, we conducted five types of experiments with respect to the climbing angle, variable width, attitude control, speed, and obstacle passing.

• Journal of the Korean Society of Systems Engineering
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• v.18 no.2
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• pp.126-139
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• 2022

The need for synthetic automation is increasing in preparation for a gradual decrease in laboratory research manpower due to low birth rate and aging. In this study, the existing laboratory synthesis method is analyzed based on the systems engineering technique. Then, it led to the derivation of the system requirements for a fixed-based robot manipulator capable of recognition, decision and control. The robot is equipped with replaceable modular end-effectors and designed depending on the purpose and process of the synthesis. The robot with an end-effector was implemented as PoC(Proof-of-Concept), and the functions for pipetting automation was verified.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.1
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• pp.79-85
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• 2006

This paper presents a strategy and tactic for robot soccer using furry logic mediator that determines robot action depending on the positions and the roles of adjacent two robots. Conventional Q-learning algorithm, where the number of states increases exponentially with the number of robots, is not suitable for a robot soccer system, because it needs so much calculation that processing cannot be accomplished in real time. A modular Q-teaming algorithm reduces a number of states by partitioning the concerned area, where mediator algorithm for cooperation of robots is used additionally. The proposed scheme implements the mediator algorithm among robots by fuzzy logic system, where simple fuzzy rules make the calculation easy and hence proper for robot soccer system. The simulation of MiroSot shows the feasibility of the proposed scheme.

• Journal of Convergence for Information Technology
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• v.7 no.6
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• pp.181-186
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• 2017

In recent years, robots have been actively used for children's creativity learning and play, but most robots have a stereotyped form and have a high dependency on the program, making it difficult to learn creativity and play. In order to compensate for these drawbacks, We have created a robot that can easily and reliably combine each other. The robot can memorize the desired operation and execute the memorized operation by using one button. Also, in case multiple modules are combined, pressing the button once on any module makes it possible to easily adjust the operation of all the combined modules. In order to verify the actual operation, two, three, and five modules are combined to demonstrate the usefulness of the proposed structure and algorithm by implementing a gobbling motion and a walking robot. It is required to study intelligent modular robots that can control over the Internet by supplementing the wireless connection method.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.14-18
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• 1987

In this paper, a system program is introduced for the effective operation of revolute type robot manipulator. The I system program consists of several modes and specific functions. These modes and functions are flexible and easy to use because the structure is modular and conversational. This program had implemented and verified the efficiency together with a five axes robot.