http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : 박일우(Ill-Woo Park) (검색결과 7 건)
- 무료
- 기관 내 무료
- 유료
-
푸리에 급수를 이용한 이족보행로봇의 보행 궤적 해석해 생성
박일우(Ill-Woo Park),백주훈(Juhoon Back) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.12
This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is to find the solution from the desired ZMP trajectory to CoG trajectory. This article presents the analytic solution for the bipedal gait generation on the bases of ZMP trajectory. The presented ZMP trajectory has Fourier series form, which has finite or infinite summation of sine and cosine functions, and ZMP trajectory can be designed by calculating the coefficients. From the designed ZMP trajectory, this article focuses on how to find the CoG trajectory with analytical way from the simplified inverted pendulum model. Time segmentation based approach is adopted for generating the trajectories. The coefficients of the function should be designed to be continuous between the segments, and the solution is found by calculating the coefficients with this connectivity conditions. This article also has the proof and the condition of solution existence.
-
박일우(Ill Woo Park),임상빈(Sang-Bin Yim) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.5
This paper presents a design philosophy and development results of a singular module-based educational robot kit, the Pingpong. The kit was comprised of a module, a link frame, and additional accessories. The module was designed to contain a motor, a gear, a sensor, a battery, and an electronic controller. The module mechanically interacted with other modules by connecting with the link frame, which could be inserted into the module without a fastener such as a bolt. The module could communicate with other modules and the main controller through the wireless Star network, namely Bluetooth 5.0. The robot assembled by the modules required no wires, which are generally used to power and signal the connection. Eliminating fasteners and wires made the assembly process simple and easy, and it improved the efficiency of the robot class progress and education contents.
-
인간형 로봇 플랫폼 KHR-2 의 설계 및 하드웨어 집성
김정엽(Jung-Yup Kim),박일우(Ill-Woo Park),오준호(Jun-Ho Oh) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.11
In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot ? 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.
-
한정혜,박주현,조미헌,박일우,김진오,Han, Jeong-Hye,Park, Ju-Hyun,Jo, Mi-Heon,Park, Ill-Woo,Kim, Jin-Oh 한국정보교육학회 2011 정보교육학회논문지 Vol.15 No.3
최근 과학예술융합교육(Science, Technology, Engineering, Art and Mathematics; STEAM)의 중요성이 증대되고 있으며, 로봇활용교육도 좋은 대안으로 고려되고 있다. 현재 대부분의 초등 로봇활용교육은 방과후교실로 운영되고 있는데, 주로 과학과 로봇에 관심이 많은 남학생들을 중심으로 이루어지고 있다. 본 논문에서는 먼저 초등학생들이 로봇을 활용하여 STEAM에 대한 흥미를 유발하게 되는지를 살펴보고자 하였다. 로봇활용의 범주를 5가지(추상적 이해형, 구조중심형, 운동중심형, 지능중심형, 가치지향형)로 나눈 후, 초등정규교육과정을 분석하여 적용 가능한 모든 교과와 단원을 추출하였다. 그리고 추출된 단원에 대하여 정규수업시간 내에 수행이 가능한 로봇을 활용하는 교안을 개발하고, 5개월간 적용하였다. 분석 결과, 로봇활용교육이 STEAM에 대한 흥미를 유의미하게 증진시키는 것으로 나타났으며, 특히 여학생의 경우가 더 두드러졌다. 이와 더불어서, 정규 수업에서 로봇활용교육을 운영하는 데 있어서 당면하게 되는 문제점들에 대해 논하고, 향후 STEAM을 위한 로봇활용교육과 관련한 제언을 제시하였다. 'Learning with a robot' is now considered as one of the best candidates for STEAM education, which is recently growing its importance. Most of the 'learning with a robot' programs in elementary schools serve as afterschool classes. The students participating in the afterschool classes are mostly boys who are interested in science and robots. This paper mainly concerns that a robot can be helpful for improving students' interest in STEAM education. We divided the robot utilizable aspects into 5 areas with educational points of view; abstract concept understanding type, structure-oriented type, athletics-oriented type, intelligence-oriented type and value-orientated type. We extracted all robot utilizable subjects and units from elementary school curriculum, and developed lesson plans which can be applicable to regular classes. And we also verified them by applying into an elementary school for 5 months. As the result of the analysis, we can conclude that 'learning with a robot' can encourage students' interest in STEAM, and it is more effective for girls than boys. Finally, we discuss problems that teachers may face in using a robot for regular classes, and make suggestions about the use of a robot for STEAM education.
-
안용진(Young-Jin Ahn),이상민(Sang-Min Lee),박일우(Ill-Woo Park) 융복합지식학회 2013 융복합지식학회논문지 Vol.1 No.1
본 논문은 운송로봇에 적재 되어있는 적재물의 ZMP(Zero Moment Point) 이론을 적용하여 가-감속 주행 및 곡선주행에서도 안전하게 운송할 수 있는 운송로봇을 개발하였다. 현재 운송로봇은 농산물의 수확물이나 재료 운송로봇, 건설자재 운송로봇, LCD 운송로봇 등 다양한 형태로 우리 생활에 사용되어지고 있고 나아가 더 많은 운송로봇들이 연구 되고 있다. 운송로봇의 적재물이 운송 되어질 때 고려해야 할 점은 적재물이 신속하고 안전하게 목표지점에 도달하는 것이다. 그래서 본 논문은 적재물의 안정성에 초점을 두고 Roll방향과 Pitch 방향의 2-자유도를 가지는 상판을 통해서 운송되는 적재물을 싣고 주행을 할 때에 상판을 제어함으로써 관성력에 의해서 적재물이 상판에서 넘어지거나 이탈하지 않도록 개발하였다. This paper introduces transportation robot, with application of ZMP theory, which is able to transport cargo loaded on the robot in condition of acceleration, speed reduction and curvilinear traveling. Nowadays transportation robots are used in variety fields to transport agricultural products, building materials, LCD panels and so on. Also many other transport robots are researched and developed. Two aspects that have to be considered as cargo of transportation robots is carried are reaching to the target spot rapidly and safely. Accordingly, this paper is focused on safety of cargo as transportation robot carries it with plate which has double-degree of freedom, roll and pitch. By controlling plate on which cargo is loaded, it is able to withstand intertial force to prevent from falling or drifting from the plate.
-
-
조광현(Kwanghyeon Cho),김재관(Jae kwan Kim),최성훈(Sunghoon Choi),이상훈(Sang hoon Lee),박일우(Ill-woo Park) 전력전자학회 2010 전력전자학술대회 논문집 Vol.2010 No.11
본 연구는 자전거의 속도를 이용하여 자동으로 기어변속을 하는 시스템 개발에 관한 연구이다. 본 논문은 자전거의 기어변속 메커니즘을 활용하여 기어 변속기를 개선함으로써 진행속도에 맞추어 자동으로 기어 변속을 수행하는 시스템의 설계 및 개발에 관하여 서술하였다. 상세하게는 뒷바퀴에 속도 측정장치를 설치하여 회전수에 따라 자전거의 진행하는 속도를 감지하며, 기존 자전거의 변속기에 개발된 전자제어장치를 탑재하여 운행자의 진행속도에 맞추어 자동변속을 구현한다.
ScienceON
DBpia연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
