Development of Gliding Locomotion Robot by Single Servo Motor

Yasuhiro Fuwa,Takashi Takimoto 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

The gliding locomotion is defined as forward motion by the difference of friction between normal direction and tangential direction. Unlike conventional propulsion, the gliding locomotion method can move on low friction surface. Gliding locomotion robots have a simple mechanism, but it is difficult to control these robots. In previous researches, many gliding locomotion robots have been developed, and most of these robots need some actuators. In this paper, we have considered mechanism of the gliding locomotion which uses only one servo motor. Moreover, we have developed a robot with this mechanism which can move forward and turn. Then, we have shown experimental results that illustrate the effectiveness of the proposed mechanism.

Paper : Smart Phone Robot Made of Smart Soft Composite (SSC)

( Wei Wang ),( Hugo Rodrigue ),( Jang-yeob Lee ),( Min-woo Han ),( Sung-hoon Ahn ) 한국복합재료학회 2015 Composites research Vol.28 No.2

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

Ferrofluid Soft-robot Bio-inspired by Amoeba Locomotion

Hernando Leon-Rodriguez,Viet Ha Le,Seong Young Ko,Jong-Oh Park,Sukho Park 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

This paper presents a novel application based on the bio-inspired motion of the Amoeba. This research is focused on development a soft micro robot based on the Amoeba locomotion which can be named Whole Skin Locomotion. The robot is created using the fluid filled toroid method that acts as a body shaping feature with ferrofluid material placed within that is delivered to create the driving force. The passive fluid switch acts as an active sensitive liquid when a magnetic field is applied. Therefore, based on this behaviour in order to produce the driving motion external Electromagnetic coils are arranged as a wireless control and actuator. A number of motions and hindrances are currently presented to insure the principal motions of the robot. Some other approaches of ferrofluid soft-robot biomimetic inspired are also presented as well.

4족 견마형 로봇의 동작 생성 및 제어에 관한 실험적 연구

고광진(Kwang-jin Ko),유승남(Seung-nam Yu),이희돈(Hee-don Lee),한창수(Chang-soo Han) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5

Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.

Magnetic Mechanical Capsule Robot for Multiple Locomotion Mechanisms

임세혁,전도영 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.2

This paper proposes a magnetic mechanical capsule robot which crawls in a fluid-filled tube. The de-veloped capsule robot employs two locomotion mechanisms simultaneously. It has spiral ribs at both ends, which are rotated by a small on-board motor. Such rotating spiral structures generate a driving force of the capsule robot. We invented a magnetic mechanical mechanism to transfer the rotational motion of the frontal part into the linear motion of the middle part. Using this original mechanism, the linearly moving part at the middle of the capsule robot generates a supportive driving force. The im-proved mobility is evaluated in experiments. The developed capsule robot employing multiple locomo-tion mechanisms moves 44% faster than the spiral motion-based capsule robot. The developed magnetic mechanical mechanism and the mobile robotic platform could be used for pipe inspection robots or medical robots.

16 자유도 방사형 4족 로봇의 험지에서의 안정성과 에너지 효율성 향상을 위한 보행 학습

김진우,김정엽 대한기계학회 2024 大韓機械學會論文集A Vol.48 No.8

본 논문에서는 16 자유도 다리 구조를 가진 방사형 4족 로봇에 대해 심층 강화학습 기반의 험지 안정성 및 에너지 효율성을 동시에 갖춘 보행 학습을 제안한다. 구체적으로, 보행속도를 기반으로 몸통 높이를 동적으로 조절함으로써 보행 안정성과 에너지 효율성을 모두 향상시키고자 한다. 본 연구의 학습 전략은 3단계로 구분된다. 1) 3 자유도를 갖는 기존 로봇의 다리구조와 달리 제안된 4 자유도 다리의 작업공간을 비교 분석한다. 2) Froude Number를 사용하여 로봇의 보행 속도 기반 몸통 높이 리워드를 설계한다. 3) Fractal Noise Terrain에서 전이 학습을 통해 신속한 학습과 일반화 능력을 향상시켜 다양한 환경에 대한 적응력을 높인다. 최종적으로 Isaac gym에서 학습된 정책을 Gazebo Sim-to-Sim 과정을 통해 다양한 지형과 조건에서의 보행 안정성 및 에너지 효율성 측면에서 비교 분석하여 검증한다. We herein propose learning locomotion with uneven terrain stability and energy efficiency using deep reinforcement learning for a sprawling-type quadruped robot with 16 degree-of-freedom (DOF) leg mechanisms. Our aim is to improve both locomotion stability and energy efficiency by dynamically adjusting the body height based on the locomotion speed. The learning strategy in this study comprises three steps: 1) The workspace of the proposed 4-DOF leg, unlike the 3-DOF leg structure of the existing robot, is compared and analyzed. 2) A body-height reward based on the robot's locomotion speed is designed using the Froude Number. 3) In Fractal Noise Terrain, rapid learning and generalizability for increasing adaptability to various environments are achieved via transfer learning. Finally, the policy learned by Isaac Gym is verified by comparing and analyzing locomotion stability and energy efficiency in various terrains and conditions via the Gazebo Sim-to-Sim process.

다양한 locomotion이 가능한 초소형 모듈 로봇

송창우(Chang-Woo SONG),김견우(Kyoun-Woo KIM),서한복(Han-Bok Seo),신부현(Bu-Hyun Shin),이승엽(Seung-Yop Lee) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11

In this paper, we propose the design of a micro-module robot enabling various locomotions. And we demonstrate the existence and non-existence of potentialities by using the finite element simulation and solving the inverse dynamics. This micro-module robot cannot only perform both the perpendicular and horizontal locomotions, but also it includes a mechanism to escape dangerous situations, mimicking a Armadillium vulgare themselves which is able to round the its body into a ball shape being protected from predator. The electromagnetic type segmented actuators are used to implement fast moving speed. The characteristics of the module actuators are studied by using FEA, and the feasibility of the proposed locomotion mechanisms are also demonstrated by solving the inverse dynamics.

유전알고리즘을 사용한 뱀형 로봇의 이동 생성 및 부분모듈 선택 분석

안인석(Ihnseok Ahn),장재영(Jaeyoung Jang),서기성(Kisung Seo) 한국지능시스템학회 2009 한국지능시스템학회논문지 Vol.19 No.5

뱀형 모듈라 로봇은 모듈을 일련의 형태로 연결하여 구성한 것으로, 다양한 환경에 대해서 강인성을 가지고 있고, 모듈 일부의 고장에도 이동할 수 있는 장점을 가진다. 그러나 이동 제어 방법이 어렵고, 아직까지 효율적이고 다양한 이동법의 개발이 미비한 편이다. 본 연구에서는 뱀형 로봇의 이동제어를 위하여 GA(Genetic Algorithm)기반의 위상생성 방식과 임의의 궤적 생성방식을 비교하고, 이를 확장하여 일부 모듈만의 선택에 따른 영향을 분석하기 위해서 GA를 통한 모듈 선택 실험을 수행하였다. KMC사의 뱀형 로봇을 대상으로 먼저 webots 시뮬레이터 상에서 모델링 및 시뮬레이션 환경을 구축하고, 위의 GA 기반 이동 생성 실험들을 수행하였다. Modular snake-like robots, which consist of series of modules, are robust for failure and have flexible locomotions for environment. However, they are difficult to control and few efficient and various locomotions are introduced yet. In this paper, GA based phase generation and trajectory generation approaches are implemented and compared for locomotion of snake-like robots and extended for analysis for selections of partial modules. In addition, modeling and simulation environments are implemented in Webots simulator and above GA based experiments for locomotion are executed for KMC snake-like robot.

다관절 지렁이 운동을 모사한 직진과 회전이 가능한 소형 모듈 로봇 개발

송창우(Chang-Woo Song),이상명(Sang Myung Lee),이승엽(Seung-Yop Lee) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11

In this study, a biomimetic robot with multi-segmented modules mimicking the locomotion of earthworms was developed. The modular robot consists of five segmented body and each module is actuated by a pair of solenoids with permanent magnet plungers. The biomimetic modular robot can cause the change of direction by making each solenoid pair 180 degrees out of phase to bend the earthworm-like body, as well as the linear locomotion. The theoretical analysis was performed to determine the electromagnetic force driven by each module, and the optimal profiles of input signals were obtained for fast translation and the change of direction. The experiments using the five-segmented robot show that it takes 0.5 s to complete the locomotion over one cycle and the linear speed becomes 27.2 mm/s (0.13 body-length/s). Also, the modular robot completes the turning motion for the change of direction after 90 cycles (t=45 s).

Stable Behavior Trajectory Generation for Humanoid Robot using Locomotion and Motion Primitives

Su-Hee Noh,Yong-Tae Kim 동국대학교 정보융합기술원 2010 International Journal of Assistive Robotics and Sy Vol.11 No.2

In this paper, we present a stable behavior trajectory generation method that uses locomotion and motion primitives for humanoid robots. We define behavior primitive, locomotion primitive and motion primitive. Locomotion primitive consists of basic motion primitives. It is possible to easily develop various behavior primitives using locomotion primitives and motion primitives. Also, it can efficiently increase the stability of walking motion of the biped robot. We verify our approach through walking experiments by using a small humanoid robot. The experimental results demonstrate that the humanoid robot is capable of walking stably and the proposed method improves its stability of behavior.