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구익모,송영국,문형필,박선규,최혁렬 한국로봇학회 2010 로봇학회 논문지 Vol.5 No.3
In this paper, a wall climbing robot, called LAVAR, is developed, which is using an impeller for adhering. The adhesion mechanism of the robot consists of an impeller and two-layered suction seals which provide sufficient adhesion force for the robot body on the non smooth vertical wall and horizontal ceiling. The robot uses two driving-wheels and one ball-caster to maneuver the wall surface. A suspension mechanism is also used to overcome the obstacles on the wall surface. For its design, the whole adhering mechanism is analyzed and the control system is built up based on this analysis. The performances of the robot are experimentally verified on the vertical and horizontal flat surfaces.
Development of a Quadruped Walking Robot AiDIN-III using Biologically Inspired Kinematic Analysis
구익모,Duc Trong Tran,이윤행,문형필,구자춘,박상덕,최혁렬 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.6
This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III (Artificial DIgitigrade for Natural Environment version III) and the effectiveness of the proposed idea is validated via experimental works.
유연한 구동기를 이용한 착용 가능한 촉각 제시 장치 개발
구익모,정광목,박종길,구자춘,이영관,남재도,최혁렬 한국로봇학회 2006 로봇학회 논문지 Vol.1 No.1
Tactile sensation is one of the most important sensory functions for human perception of objects. Recently, there have been many technical challenges in the field of tactile display as well as tactile sensing. In this paper, we propose an innovative tactile display device based on soft actuator technology with ElectroActive Polymer(EAP). This device offers advantageous features over existing devices with respect to intrinsic flexibility, softness, ease of fabrication and miniaturization, high power density, and cost effectiveness. In particular, it can be adapted to various geometric configurations because it possesses structural flexibility, so it can be worn on any part of the human body such as finger, palm, and arm etc. It can be extensively applied as a wearable tactile display, a Braille device for the visually disabled, and a human interface in the future. A new design of the flexible actuator is proposed and its basic operational principles are discussed. In addition, a wearable tactile display device with 4x5 actuator array(20 actuator cells) is developed and its effectiveness is confirmed
인터뷰/존 호렛 NYMEX마케팅 부장-중동 원유 선물거래 많은 이용 바랍니다
구익모,Gu, Ik-Mo 대한석유협회 1998 석유와 에너지 Vol.1998 No.11
최근 국제원유시장의 구조는 원유시장이 성립된 이래 가장 복잡하고 이해하기 어렵다고 볼 수 있다. 세계적으로 연료수급균형을 둘러싸고 예측할 수 없는 수 많은 변화 요인과 관련, 업계가 적절히 대응할 수 있는데 대한 관심이 높아지고 있는 가운데, 세계최대의 상품거래소중의 하나인 NYMEX(뉴욕상품거래소)가 지난 10월 23일 인터컨티넨탈 호텔에서 NYMEX중동원유세미나를 가졌다. 이 세미나는 내년초 중동산 원유인 오만ㆍ두바이의 신규상장을 앞두고 원유선물거래 및 옵션거래제도를 알리기 위해 대한석유협회에서 후원하고 NYMEX가 주최하는 것으로 업계, 협회 및 기타 관련기관에서 약 80여명이 참가했다. 다음은 이 세미나에 앞서 22일 석유협회에 내방한 NYMEX의 John Howlet 마케팅부장과의 인터뷰 내용을 정리한 것이다. <편집자 주>
Biologically Inspired Control of Quadruped Walking Robot
구익모,Gia Loc Vo,Tran Duc Trong,송영국,최혁렬,강태훈 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.4
In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).