• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.3
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• pp.1236-1240
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• 2014

We propose a robot museum, "ROSIEUM," based on a new concept of museum. Roles of a new concept based museum are being investigated. We also propose a classification scheme for robot contents as museum's collections. This scheme for collecting and displaying robot contents includes the first robots, the delegate robots, the robots with special meanings, the robot experiences and the robot events. Also, types of robot contents are described. Key ideas and scenario for "ROSIEUM" have been presented. Operations of "ROSIEUM" are designed and implemented.

• Advances in robotics research
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• v.1 no.2
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• pp.171-183
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• 2014

Distributed planning and decision making can be beneficial from the robustness, adaptability and fault tolerance in multi-robot systems. Distributed mechanisms have not been employed in three dimensional transportation systems namely aerial and underwater environments. This paper presents a distributed cooperation mechanism on multi robot transportation problem in three dimensional environments. The cooperation mechanism is based on artificial capital market, a newly introduced market based negotiation protocol. In the proposed mechanism contributing in transportation task is defined as asset. Each robot is considered as an investor who decides if he is going to invest on some assets. The decision is made based on environmental constraint including fuel limitation and distances those are modeled as capital and cost. Simulations show effectiveness of the algorithm in terms of robustness, speed and adaptability.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.306-312
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• 2017

Recently, development of robot technology has been actively investigated that industrial robots are used in various other fields. However, the interface of the industrial robot is limited to the planned and manipulated path according to the target point and reaching time of the robot arm. Thus, it is not easy to create or change the various paths of the robot arm in other applications, and it is not easy to control the robot so that the robot arm passes the specific point precisely at the desired time during the course of the path. In order to overcome these limitations, this paper proposes a new-media content management platform that can manipulate 6 DOF industrial robot arm using 3D game engine. In this platform, the user can directly generate the motion of the robot arm in the UI based on the 3D game engine, and can drive the robot in real time with the generated motion. The proposed platform was verified using 3D game engine Unity3D and KUKA KR-120 robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.183-184
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• 2010

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.364-371
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• 2014

The purpose of this paper is to review recent developments in lower limb exoskeletons. The exoskeleton system is a human-robot cooperation system that enhances the performance of the wearer in various environments while the human operator is in charge of the position control, contextual perception, and motion signal generation through the robot's artificial intelligence. This system is in the form of a mechanical structure that is combined to the exterior of a human body to improve the muscular power of the wearer. This paper is followed by an overview of the development history of exoskeleton systems and their three main applications in military/industrial field, medical/rehabilitation field and social welfare field. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the exoskeleton mechanism, human-robot interface and human-robot cooperation control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.3 s.258
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• pp.285-294
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• 2007

Previously, ASCI(Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.9
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• pp.978-985
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• 2012

Starfish are a critical problem for fishermen since they eat every farming product including shellfish. The number of starfish is increasing dramatically because they have no natural enemy underwater. We consider the concept of capturing starfish using a semi-autonomous robot. A new underwater robot design to capture starfish is proposed using cooperation between humans and the robot. A requirements list for the robot is developed and two conceptual designs are proposed. Each robot is designed as a modular platform. The kinematic and dynamic performance of each robot is analyzed and compared. This study is a starting point for developing a starfish capture robot and designing underwater robots for other applications. In the near future, a prototype will be assembled and tested in a marine environment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.7
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• pp.1616-1623
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• 2005

In this paper, we propose that the synchronization method for mutual cooperative control in the chaotic mobile robot. In order to achieve the synchronization for mutual cooperative control in the chaotic mobile robot, we apply coupled synchronization technique and driven synchronization technique in the chaotic mobile robot without obstacle and with obstacle.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.4 no.3
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• pp.284-288
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• 2003

In this paper, a mobile robot system which have trajectory of metal tape- type is designed and manufactured. The mobile robot for manless-transportation consists of sensor-part with ultrasonic and infrared sensor, motor-part with motor and encoder, user interface-part, central control-part and computer interface-part. The ultrasonic sensor detects obstacles which can appear during the mobile robot is move. The infrared sensor has ability which detect the metal tape trajectory and then lead the robot to a correct position. By using the mobile robot, the flexiblity of a moving trajectory is improved and cost which can happen in using a mobile robot system having trajectory is cut as well.