• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.1
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• pp.17-21
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• 2007

Multi-Agent Robotic System (MARS) is a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the MARS, a robot contains sensor part to percept the situation around themselves, communication part to exchange information, and actuator part to do given work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, Bluetooth is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots. For the purpose, the communication system must have several features-separated module, flexible interface. We will discuss how to construct and what kind of procedure to develop the communicating system.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.326-332
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• 2019

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.246-249
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• 2005

The TFT-LCD is extensively used from a small watch to a large TV display, and the demand is increasing rapidly. The size of R-LCD glass plate becomes more bigger, and the thickness become more thinner with high demands. As a result natural frequency of the TFT-LCD glass plate becomes more lower. The TFT-LCD glass plate will be moved by robot arm and may receive effect of vibration that occur at transfer. Natural frequency of the TFT-LCD glass plate is increased or decrease according to location that robot arm fixs glass plate. Purpose of a this study is finding support location that optimize the first natural frequency of TFT-LCD glass plate. The size optimization method of ANSYS 8.0 is used as the optimization tool search on the optimal support location of TFT-LCD glass plate. The considered number of support point is from 4 to 9.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.318-325
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• 2010

This paper proposes a new string controller for puppet which is optimized in terms of the number of motors and its size. To optimize the number of motors needed for generating the essential motions of puppet, the motion of bending a leg is implemented by one string and the walking motion by two legs is implemented by one motor. To minimize the space needed for the controller when generating the essential motions of puppet, cylindrical and articulated joints are used in the controller. The proposed controller is actually implemented to perform various puppet shows and it has been proved that the size of the controller is small enough for two puppets to stand close to shake hands and it is fast enough to simulate fast dance motions.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.9 no.3
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• pp.137-143
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• 2009

Through the development of techniques, robots are becomes smaller, and many of robots needed for application are greater and greater. Method of coordinating large number of autonomous robots through local interactions has becoming an important research issue in robot community. Swarm Robot System is a system that independent autonomous robots in the restricted environment infer their status from preassigned conditions and operate their jobs through the coorperation with each other. Within the SRS,a robot contains sensor part to percept the situation around them, communication part to exchange information, and actuator part to do a work. Specially, in order to cooperate with other robots, communicating with other robot is one of the essential elements. In such as Bluetooth has many adventages such as low power consumption, small size module package, and various standard procotols, it is rated as one of the efficent communcating system for autonomous robot is developed in this paper. and How to construct and what kind of procedure to develop the communicatry system for group behavior of the SRS under intelligent space is discussed in this paper.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.570-576
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• 2012

In this research a moving platform for a mobile robot which can run with upright posture is proposed. It is able to stand with standing arms and run uprightly based on an inverted pendulum mechanism. Conventional mobile robots generally may equip 4 wheels or 3 wheels including a caster and have good statistic stability. They need a steering mechanism to choose which way to go since they have a square or rectangular configuration with multiple wheels. When a mobile robot meets a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it sometimes cannot even pass through the crossroad because of its size. The proposed moving platform for a mobile robot changes to a upright posture which has a small planar area and is able to pass through the crossroad. We propose a moving platform for a mobile robot with a inverted pendulum mechanism and standing arms which can make the mobile robot upright.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.176-187
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• 2002

This paper focuses on the study of simulation and evolution of Micro Air Vehicles. Micro Air Vehicles or MAVs are small flying robots that are used for surveillance, search and rescue, and other missions. The simulated robots are designed based on realistic characteristics and the brains (controllers) of the robots are generated using genetic algorithms, i .e., simulated evolution. The objective for the experiments is to investigate the effects of robot team size and topology (simulation environment) on the evolution of simulated robots. The testing of team sizes deals with finding an ideal number of robots to be deployed for a given mission. The goal of the topology experiments is to see if there is an ideal topology (environment) to evolve the robots in order to increase their utility in most environments. We compare the results of the various experiments by evaluating the fitness values of the robots i .e., performance measure. In addition, evolved robot teams are tested in different situation in order to determine if the results can be generalized, and statistical analysis is performed to evaluate the evolved results.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.87-93
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• 2014

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.

• The Journal of the Korea Contents Association
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• v.19 no.2
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• pp.469-476
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• 2019

Robotic motion is designed by the rotation and the translation of multiple joint coordinates in a three-dimensional space. Joint coordinates are generally modeled by homogeneous transform matrix. However, the complexity of three dimensional motions prefers the visualization methods based on simulation environments in which models and generated motions work properly. Many simulation environments have the limitations of usability and functional extension from platform dependency and interpretation of predefined commands. This paper proposes the web-based three dimensional simulation environment toward high user accessibility. Also, it covers the small size web server that is linked with Python script. The non linearities of robot control apply to verify the computing efficiency, the process management, and the extendability of user scripts.