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조동권,정상봉,성영휘,Cho, Dong Kwon,Chung, Sang Bong,Sung, Young Whee 대한임베디드공학회 2009 대한임베디드공학회논문지 Vol.4 No.1
In this paper, a network based robot soccer system is proposed. The system consists of robots, an image processing sub-system, a game server, and client systems. Embedded technique is applied to the hardware and software for controlling the robots and image processing. In this robot soccer system, a gamer can see and control robots in a remote site through Internet. During the game, the game server gives geometrical information on robots such as positions and orientations. We demonstrated the game in public and obtained optimistic results even though some technical problemssuch as communication delay and precise control for the robots should be improved.
조동권,천상훈,Cho Dong-Kwon,Chun Sang-Hun 한국통신학회 2006 韓國通信學會論文誌 Vol.31 No.9A
발전된 형태의 통신망 제공은 광대역 멀티미디어 서비스를 가능하게 하고 있다. 네트워크 기반 지능형 이동 로봇 서비스가 새로운 서비스 중의 하나이다. 이때 네트워크 로봇을 원격으로 제어하기 위해서는 실시간 신뢰성 있는 로봇제어 데이터 전송이 필요하다. 본 연구에서 UDP 프로토콜에 기반을 둔 로봇 제어 데이터의 효과적인 전송기법을 제안한다. 제안한 기법은 로봇 제어 데이터에 우선순위를 부여하고 기지국에서 로봇 제어 데이터를 중복으로 전송하는 것이다. NS-2 모의실험을 통하여 제안한 제어데이터 전송 프로토콜 방법은 전송지연시간이 적으며 패킷 손실율도 매우 적음을 보인다. New emerging wireless broadband internet can make many broadband multimedia services. The networked intelligent mobile robot service is one of the new services. In the networked robot control, both the on-line real-time control and the reliability of control data transmission are very important. Considering the real-time control and data reliability, an efficient transmission method based on UDP protocol is proposed. The proposed method allocates the priority to the robot control data and the transmission of the robot data at the base station is carried out in duplicate manner. NS-2 simulation results show that the proposed scheme has a very low packet delay and low packet errors.
成永輝(Young Whee Sung),趙東權(Dong Kwon Cho) 대한전기학회 2007 전기학회논문지 Vol.56 No.1
This paper describes a redundancy resolution based method for determining an optimal initial configuration of a humanoid robot for holding an object. There are three important aspects for a humanoid robot to be able to hold an object. Those three aspects are the reachability that guarantees the robot to reach the object, the stability that guarantees the robot to remain stable while moving or holding the object, and the manipulability that makes the robot manipulate the object dexterously. In this paper, a humanoid robot with 20 degrees of freedom is considered. The humanoid robot is kinematically redundant and has infinite number of solutions for the initial configuration problem. The complex three-dimensional redundancy resolution problem is divided into two simple two-dimensional redundancy resolution problems by incorporating the symmetry of the problem, robot's moving capability, and the geometrical characteristics of the given robot. An optimal solution with respect to the reachability, the stability, and the manipulability is obtained by solving these two redundancy resolution problems.
金鐘佑(Jong-Woo Kim),車鐵(Chul Cha),成永輝(Young Whee Sung),趙東權(Dong Kwon Cho) 대한전기학회 2007 전기학회논문지 Vol.56 No.2
Robot mobility and intelligence become more important for robots to be used in various fields other than automation. The main purpose of providing mobility to a robot is to extend the robot's manipulability. In this paper, we introduce a small humanoid robot that can autonomously paly golf as an example of incorporating robot intelligence, mobility, and manipulability. The robot has 12 degrees of freedom for legs and has various basic walking patterns. It can move to a desired position and change orientation by combining the basic walking patterns. The robot has a color CCD camera and can extract coordinates of the objects in the environments. The small humanoid robot has 8 degrees of freedom for arms and can play golf autonomously with two kinds of dexterous swing motions. Kinematic analysis of the robot arms, vision data processing for the recognition of the environments, algorithm for playing robotic golf have been performed or proposed. The experimental results show that the robot can play golf autonomously.