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모듈 결합형 전방향 이동 플랫폼의 기구학 모델 및 검증
고두열,김정중,박진성,한형석 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.6
With the increasing worldwide demand to automate product distribution, technology firms are introducing variousmobile robots to the market. Generally, the maneuverability of the mobile robot is determined by the type and location of itswheels. Omnidirectional mobile platforms suitable for the agile motion required during instantaneous obstacle avoidance arewidely used in congested environments like indoor factories. Previous omnidirectional mobile robots have been developed forspecific purposes that prevented operation beyond the predesigned limits. To overcome this, we propose an omnidirectionalmobile platform that can be connected to another platform. This type of modular structure can improve the efficiency of theentire logistics network by allowing flexible deployment according to the workload. The proposed system is able to generateholonomic movement with four mecanum wheels, and can connect with different mobile platforms using a connecting moduleat the side of each platform. To derive the kinematic model of the connected mobile platform, we first derive the analyticalkinematic relationship between the connected platform center and each wheel. Next, we conducted simulations usingRecurDyn, a dynamic simulation program, for three different types of connected mobile platforms. Our simulation resultsshow that the position and velocity trajectory derived from the kinematic model well follows the reference trajectory atdifferent connection cases.
소형 무인주행로봇에 탑재되는 EOD 매니퓰레이터 설계에 대한 연구
고두열,이승호,이준성,황기상,김수현,Koh, Doo-Yeol,Lee, Seung-Ho,Rhee, Joon-Seong,Hwang, Ki-Sang,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.5
In this paper, mechanism design of the explosive ordnance disposal(EOD) manipulator for small unmanned ground vehicle(SUGV) is presented from the conceptual to detailed design. EOD manipulator has been widely developed in the world due to the growing threat of the improvised explosive devices at war. It has distinctive characteristics, such as small size and high loading performance, compared to the industrial manipulator which is fixed on the floor. Design of new EOD manipulator must take into account various functional requirements and constraints simultaneously. We focused on developing the EOD manipulator that has suitable size for the SUGV and maximum 15kg payload capacity. Design approach taken in this paper is based on axiomatic design procedure and comparison among many possible candidates of each joint structure to obtain appropriate entire structure of EOD manipulator.
전방향 가변 지지 메커니즘의 기구학 및 모의 해석 검증
고두열,김정중,박진성 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.12
In recent years, with increasing levels of e-commerce, the use of mobile robots in logistics has increased significantly. The most common driving mechanism for mobile robots is the differential type, but the omnidirectional type mechanism, too, is widely used due to its high maneuverability in crowded environments. Meanwhile, studies on a variable footprint mechanism (VFM) have been conducted to improve the maneuverability and driving stability of mobile robots. The extant VFMs offer some advantages, but they also have some limitations such as limited motion range due to structural singularity and complex controller design due to highly coupled parameters in kinematics. In this paper, an omnidirectional variable footprint mechanism (OVFM) is proposed to overcome these limitations. The proposed OVFM is designed with a diamond-shaped link structure that maximizes the motion range without singularity and a synchronized drive chain to achieve variable motion. The kinematic model of the proposed OVFM is mathematically derived, and it is demonstrated that the parameters related to VFM are only coupled to the rotation of the mobile robot, which could simplify controller design. The kinematic model is verified using the dynamics simulation tool RecurDyn in two different scenarios (one for variable motion under the static condition and the other for variable motion under the dynamic condition). The results indicate that the proposed kinematic model can be used to predict the motion of OVFM with acceptable errors that originate from the inherent nature of slip and vibration of Mecanum wheels.
전복 방지를 위한 소형 무인주행로봇의 자세 안정화 알고리즘
고두열,김영국,이상훈,지태영,김경수,김수현,Koh, Doo-Yeol,Kim, Young-Kook,Lee, Sang-Hoon,Jee, Tae-Young,Kim, Kyung-Soo,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.6
Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.
반응표면법을 이용한 고속 주행용 실외 경비로봇의 현가장치 근사 최적화
고두열,정해관,우춘규,김수현 한국로봇학회 2010 로봇학회 논문지 Vol.5 No.2
Security robot has gradually developed and deployed in order to protect civilian’s lives as well as fortune and subjugate the shortcomings of CCTV which lacks of mobility. We have developed a security robot for outdoor environment and the main purpose of the driving mechanism is to overcome the bumps or projections with high speed. The robot platform consists of 4 omnidirectional wheel-based driving mechanisms and suspension for each driving mechanism. In this paper, principal suspension parameters of outdoor security robot for overcoming obstacles with stability are studied and approximately optimized using Response Surface Methodology (RSM) since it is difficult to find the exact relationship between suspension parameters and the shock, which is significantly associated with stability of the robot, at the robot platform. Simulation using ADAMS is conducted for assessing the feasibility of optimized design parameters.
고두열,김수현 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.4
Various driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot’s pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn’t contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.
김정중,고두열,박진성 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.6
The purpose of autonomous driving is to help a mobile robot move from a starting point to a target point without any collisions. A mobile robot requires global path planning and local path planning to generate a path, where the local path planning guides the robot along the global path while taking action to avoid obstacles. In this paper, end-to-end approach to obstacle avoidance for a mobile robot is proposed. The approach uses a depth data to produce a straight motion, left rotation, or right rotation. The only data that the learning model requires is the depth image and control commands from the human operator. The method does not perform any additional operations like feature extraction on the raw sensor input values, resulting in a relatively low computing burden and intuitive learning without needing to know the robot model. Experimental results show that the proposed method successfully avoids obstacles.
이승호,고두열,정원석,김경수,김수현,Lee, Seung-Ho,Koh, Doo-Yeol,Jung, Won-Suk,Kim, Kyoung-Soo,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.5
In this paper, we propose the direction of development for EOD robot. We collected and analyzed the opinions of EOD teams. In order to verify the opinions, we conducted QFD(Quality Function Deployment) analysis. Based on the QFD analysis, we work out the priority of EOD robot development. And we establish the goal of development(target system) and suggest the development direction of EOD robot on each issue.
김정중,고두열 한국통신학회 2023 정보와 통신 Vol.40 No.5
최근 인공지능 기술은 자연어 처리(NLP, Natural language processing), 컴퓨터 비전(Computer vision) 분야에서 눈부신 성과를 공개하고 있다. 한편 로보틱스 분야도 인공지능을 활용한 자율화 기술에 대해 빠르게 성장하고 있으며, 특히 과거 특정 기능, 도메인에 특화하여 학습하던 연구 방향에서 다양한 작업이 가능한 범용 작업 로봇 학습에 관한 연구들이 이뤄지고 있다. 이러한 지능 로봇 기술은 향후 산업 현장뿐 아니라 일상생활에 로봇이 적용될 가능성을 높이고 있으며, 본 고에서는 최근 연구되고 있는 범용 작업 로봇 학습의 연구 동향과 기술적 한계 및 전망에 대해 중점적으로 논의한다.