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조정산,성영휘,Cho Jeong-San,Sung Young-Whee 한국융합신호처리학회 2005 융합신호처리학회 논문지 (JISPS) Vol.6 No.4
2족 보행을 특징으로 하는 인간형 로봇은 구동해야할 관절의 수가 매우 많으며, 로봇의 보행 상태 등을 인식하기 위하여 다양한 센서의 활용이 필요하다. 본 논문에서는 21개의 RC 서보 모터를 사용한 소형의 2족 보행 로봇의 제어기의 구조를 제안하고 구현한다. 제안된 제어기는 호스트 PC와 DSP를 사용한 주 제어기, 그리고 FPGA를 사용한 보조 제어기의 계층 구조를 갖는다. 호스트 PC에서는 보폭, 보행 시간 등과 같은 보행 파라미터에 따른 로봇의 보행 데이터를 생성하여 주 제어기로 전송하고, TI사에서 제어용으로 출시된 DSP 칩인 TMS320LF2407A를 사용하여 구현된 주 제어기에서는 보조 제어기를 통하여 21개의 RC 서보 모터를 구동한다. 또한 주 제어기와 2축 가속도 센서를 인터페이스하여 보행 바닥면의 경사도에 따른 균형잡기 실험과 기울어진 바닥면의 기울기를 검출하여 경사면 보행이 가능함을 보인다. Biped walking is the main feature of a humanoid robot. In a biped walking robot, there are many actuators to be controlled and many sensors to be interfaced. In this paper, we propose a DSP-based controller for a miniature biped walking robot with 21 RC servo motors. The proposed controller has a hierarchical structure; a host PC, a DSP-based main controller, and an auxiliary controller with an FPGA chip. The host PC generates and transmits the robot walking data for given walking parameters such as stride, walking period, etc. The main controller implemented with a TMS320LF2407A controls 21 RC servo motors via the auxiliary controller. We also perform some experiments for balancing motion and walking on a slope terrain with interfacing a 2-axis acceleration sensor and a TMS320LF2407A.
보행 로봇을 위한 서보밸브 구동 유압 액추에이터의 특성 분석
조정산,Cho, Jung San 유공압건설기계학회 2016 드라이브·컨트롤 Vol.8 No.3
This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.
IEEE1394를 이용한 다관절 로봇의 분산 제어 네트워크 개발
조정산,성영휘 대한임베디드공학회 2007 대한임베디드공학회논문지 Vol.2 No.4
This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.
트리즈를 이용한 재난대응 특수목적기계의 양팔용 작업장치 설계
조정산(Jung San Cho) 유공압건설기계학회 2018 드라이브·컨트롤 Vol.15 No.3
This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.
보행 로봇을 위한 서보밸브 구동 유압 액추에이터의 특성 분석
조정산(Jung San Cho) 유공압건설기계학회 2016 드라이브·컨트롤 Vol.13 No.2
This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.
국방로봇 발전 방향 연구 : 해외 개발 사례의 시사점 분석
조정산(Jungsan Cho),서재홍(Jaehong Seo),한상철(Sangchul Han) 국방로봇학회 2023 국방로봇학회 논문집 Vol.2 No.4
This paper analyses noteworthy implications related to current defense robots to research strategies for develoingdefense robot technology that will be at the forefront of the scientific and technological powerhouse being prepared by the military. As technologies such as Artificial Intelligence and the Internet of Things, referred to as the Fourth Industrial Revolution, develop rapidly, the future military is being portrayed with artificial intelligence and robots based on science and technology. Representative examples include automatic loading devices for self-propelled howitzers and tanks that utilize factory automation technology. The explosive development of drones, driven by IoT, motor, battery, communication and sensor technologies used in smart-phones, has had such a significant impact on our military that it has created a dronebot battle group. Because of this influence, expectations for unmanned systems in the future battlefield are also significantly increasing. In this reality, to consider the development strategy of defense robots, we analyze the implications of the current notable Boston Dynamics and Chinas unmanned system technology and analyze expectations and levels of artificial intelligence and robots. Based on this, we summarize what needs to be innovated in the military, industry, academia, and research institutes to become an advanced country in unmanned systems.