• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.724-727
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• 1997

In this paper, we developed a Windows 95 version Off-Line Programming System which can simulate a Robot model in 3D Graphic space. 4 axes SCARA Robot (especially FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1279-1280
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• 1997

The proportion of the aged people is rapidly increasing toward the 21st century. This change will cause serious problems in the area of daily activities, preservation of health, medical care and physical rehabilitatiion for the aged. for the solution of these problems this paper suggest a new type of robot for the aged man, called a silver robot. This paper presents a concept of silver robot and it's feasibility study.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.760-763
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• 1997

Using telesensor programming method, we control the space robot which has two 2-DOF manipulators. To make this control system, we devide total works by elemental operation. And we make a simulation system that can simulate sensors and robot. In the simulation system, we make a sensor data and robot paths by "Teaching by showing" method. And using these data, we control the real space robot. This off-line method can solve long time delay problem in teleoperation.operation.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1776-1780
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• 2004

In this paper, we propose the new emotion model and the robot behavior decision model based on proposed emotion model. As like in human, emotions are hierarchicalized in four levels (momentary emotions, mood, attitude, and personality) and are determined from the robot behavior and human responses. They are combined with motivation (which is determined from the external stimuli) to determine the robot behavior.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.502-504
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• 2004

With rapidly growing of computer and internet technology, Internet-based tote-operation of robotic systems has created new opportunities in resource sharing, long-distance learning, and remote experimentation. In this paper, remote control system of a mobile robot through the internet has been designed. The internet users can access and command a mobile robot in the real time, receiving the robot's sensor data. The overall system has been tested and its usefulness shown through the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.92.1-92
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• 2002

$\textbullet$ A compact and robust wall-climbing robot, called MRWALLSPECT-II, is developed. $\textbullet$ The robot is a self-contained system for scanning external surfaces of gas or oil tank. $\textbullet$ The robot has advantages of reduced actuators, parts and easy control. $\textbullet$ The mechanism of the robot employs a closed link mechanism. $\textbullet$ Self-Contained, Wall-Climbing, MRWALLSPECT

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.76.2-76
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• 2002

Because of the wheeled mobile robot is modeled by nonlinear system framework and controlled by nonlinear algorithms or fuzzy algorithms, the treatment of wheeled mobile robot is very complecate and conservative. In this paper, a new model of two wheeled mobile robot, which is a type of linear system and treated easily, is presented. And we will show that the control algorithms based on the linear system theory is well work to the wheeled mobile robot by simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.501-506
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• 1988

This paper describes an experimental system for automatic robot programming, The SNU-ARPS (Seoul National University Automatic Robot Programming System). The SNU-ARPS generates executable robot programs for pick and place operation and some simple mechanical assembly tasks by menudriven dialog. It is intended to enable the user to concentrate on the overall operation sequence instead of the knowledge regarding the details of robot languages. To convert task specifications into manipulator motions, the SNU-ARPS uses an internal representation of the world. This representation initially consists of geometric database from CAD system and is updated at each operation step to reflect the state changes of the world.