• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.359-365
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• 2011

A mobile surveillance robot is defined as a surveillance robot system that is mounted on a mobile platform and is used to protect public areas such as airports or harbors from invaders. The mobile surveillance robot that is mounted on a mobile platform consists of a gun module, a camera system module, an embedded control system, and AHRS (Attitude and Heading Reference System). It has two axis control systems for controlling its elevation and azimuth. In order to obtain stable images for targeting invaders, this system requires a stabilizer to compensate any disturbance due to vehicle motion. In this study, a virtual model of a mobile surveillance robot has been created and ADAMS/Matlab simulations have been performed to verify the suitability of the proposed stabilization algorithm. Further, the suitability of the stabilization algorithm has also been verified using a mock-up of the mobile surveillance robot and a 6-DOF (Degree Of Freedom) motion simulator.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.64-69
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• 2016

In this paper, a marathon of a humanoid robot is introduced, and its strategy is proposed. In order to develop humanoid robots for the purpose of cooperation and symbiosis with humans, the technologies such as increasing operating time and stability or recognizing surrounding environment are more important. One proper research model for the technologies is a human's marathon. In this paper, we introduce the human's marathon, and propose the humanoid robot's marathon. The marathon event of HuroCup has the most similar game rules to the human's marathon. The humanoid robot developed with the proper operating time, stability and ability to recognize the surrounding environment performed the marathon in HuroCup. The robot recognizes a marathon track using a computer vision, and builds the strategies for the race competition. By analyzing the experimental results, the humanoid robot performed in a real competition.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.692-697
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• 2003

The researches on the Internet based tole-operation have received increased attention for the past few years. In this paper, we implement the Internet based tele-operating system. In order to transmit robustly the surroundings and control information of the robot, we make a data as a packet type. Also in order to transmit a very large image data, we use PEG compressive algorithm. The central problem in the Internet based tele-operation is the data transmission latency or data-loss. For this specific problem, we introduce an autonomous mobile robot with a 2-layer fuzzy controller. Also, we implement the color detection system and the robot can perceive the object. We verify the efficacy of the 2-layer fuzzy controller by applying it to a robot that is equipped with various input sensors. Because the 2-layer fuzzy controller can control robustly the robot with various inputs and outputs and the cost of control is low, we hope it will be applied to various sectors.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.198-204
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• 2012

Tracking and recognition of robots are required for the cooperation task of robots in various environments. In the paper, a tracking control system of moving robot using stereo image processing, code-book model and fuzzy controller is proposed. First, foreground and background images are separated by using code-book model method. A candidate region is selected based on the color information in the separated foreground image and real distance of the robot is estimated from matching process of depth image that is acquired through stereo image processing. The open and close processing of image are applied and labeling according to the size of mobile robot is used to recognize the moving robot effectively. A fuzzy tracking controller using distance information and mobile information by stereo image processing is designed for effective tracking according to the movement velocity of the target robot. The proposed fuzzy tracking control method is verified through tracking experiments of mobile robots with stereo camera.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.544-549
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• 2006

This research is to introduce about Judgment System for Intelligent Movement(JSIM) that can perform assistance work of human brain. JSIM can order autonomous command and also it can be directly controlled by user. This research assumes that control object is limited to Mobile Robot(MR) Mobile robot offers image and ultrasonic sensor information to user carrying JSIM and it performs guide to user. JSIM having PDA and Sensor-box controls velocity and direction of the mobile robot by soft-computing method that inputs user's command and information that is obtained to mobile robot. Also it controls mobile robot to achieve various movement. This paper introduces wearable JSIM that communicates with around devices and that can do intelligent judgment. To verify the possibility of the proposed system, in real environment, the simulation of control and application problem lot mobile robot will be introduced. Intelligent algorithm in the proposed system is generated by mixed hierarchical fuzzy and neural network.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.640-647
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• 2007

This paper presents a joint controller for a humanoid robot based on genetic algorithm. h humanoid robot has basically instability during walking because it isn't fixed on the ground. Moreover nonlinearities of the joints increase its instability. If one of them isn't satisfied, the robot may fall down at the ground during walking. To attack one of those problems, joint controller is proposed. It can perform tracking control preciously and reduce the effect of nonlinearities by gear, limitation of the input voltage, coulomb friction and so on. This controller is based on fuzzy-sliding mode controller (FSMC) and compensator and control gains are searched by a proposed genetic algorithm. It can reduce the effect by nonlinearities. Also, to improve the tracking performance, the proposed controller has motion controller. From the given controller, a humanoid robot can moved more preciously. Here, all the processes are investigated through simulations and it is verified experimentally in a real joint system for a humanoid robot.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.121-127
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• 2007

Frequent occurrences of a fire cause tremendous loss of human lives and their property. Recently, in order to cope with such catastrophic accidents, researches on fire-fighting robots are carried out in developed countries. Under the dangerous situations, it is sometimes impossible for fire-fighting men to access the firing place because of explosive materials, smoke, high temperature and so on. In such an environment, fire-fighting robots can be useful to extinguish the fire. It is usually very dangerous place where fire-fighting robots operate. Hence, these robots should be controlled by remote users who are for away from the firing place exploiting remote communication systems. This paper considers the communication systems between fire-fighting robots and remote users. The communication systems consist of two parts; digital packet communication systems and analog image communication systems. Digital packet communication systems transfer data packets in order to control fire-fighting robots and to check the state of the fire-fighting robots. Remote users watch the video around the fire-fighting robots by exploiting the analog image communication systems. In the future, the more prosperous the commercial communication network systems will be, the more evolved the communication systems for fire-fighting robots are.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.311-317
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• 2015

This paper is a study on how to develop service robots can easily complex software development services robot control system. User created contents based on the robot control system developed in this study is a robot drive control circuit, a sensor data processing, the status, the monitoring systems and modular system to configure the service robot operation screen from a user perspective and that can control the service robot operation As in the text-based features that can be operated to have freedom to the robot control service content. In addition, the user has the advantage that changes position by the development as well as user created contents desired by the user operating the robot control GUI (graphic user interface) also changes are possible. As a result, the service robot operator to offer a way to make the service robot can be conveniently presented in a user's point of view how to enable the development of the service robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.