• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1821_1822
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• 2009

본 논문에서는 실내 GPS(indoor GPS) 센서와 전방향 비전센서(Omni-directional Mirror)를 융합하여 랜드 마크가 있는 환경에서 선형 위치 추정 알고리즘을 이용한 이동 로봇을 위한 위치 추정 시스템을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.215-220
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• 2005

Nowadays, various speech processing systems are being introduced in the fields of robotics. However, real-time processing and high performances are required to properly implement speech processing system for the autonomous robots. Achieving these goals requires advanced hardware techniques including intelligent software algorithms. For example, we need nonlinear amplifier boards which are able to adjust the compression radio (CR) via computer programming. And the necessity for noise reduction, double-buffering on EPLD (Erasable programmable logic device), simultaneous multi-channel AD conversion, distant sound localization will be explained in this paper. These ideas can be used to improve distant and omni-directional speech recognition. This speech processing system, based on embedded Linux system, is supposed to be mounted on the new home service robot, which is being developed at KIST (Korea Institute of Science and Technology)

• Annual Conference of KIPS
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• 2012.11a
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• pp.46-47
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• 2012

본 논문은 360도 전방향을 찍을 수 있는 Omni Directional Lens를 장착한 카메라 로봇에 대해 소개한다. 이는 여러 대의 안드로이드 폰으로 원격에서 접속하여 360도 전방의 파노라마 영상을 받아볼 수 있으며, 마스터 권한을 가진 안드로이드 폰의 경우, 카메라 로봇을 원격으로 제어할 수 있다. 이 로봇은 원격에서 무인 감시 시스템 등 여러 가지 영역에서 활용될 수 있다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.3
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• pp.289-295
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• 2012

In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub-type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub-type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.9
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• pp.989-997
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• 2014

In this paper, we describe a design method for the static walking algorithm of a subsea hexapod robot called Crabster (CR200). To design the gait algorithms of a hexapod robot, we propose a design method that uses a gait schedule vector and leg pair vector to secure convenience and expandability. Several walking algorithms are designed that are capable of being applied to CR200 according to the underwater environment and explorative conditions. In addition, gait transition is freely performed between algorithms by applying common control parameters to them. The gait algorithms designed using the proposed method are simulated using MATLAB and validated against the results of experiments.