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Design and 3D Modeling of Humanoid Robot for Argentina Tango
Doo Sung Ahn(안두성) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.11
The mechanical design and 3D modeling of biped walking of the humanoid robot for Argentina tango is presented in this paper. For a long time, biped walking has been studied in the area of robotic locomotion. The aim of this paper is to present a design of humanoid robot which can perform Argentina tango dancer-like walking. To this end, this paper uses SolidWorks and Simscape. Using SolidWorks a design, which make the most of Argentina tango’s characteristics, is derived. Then the design is transformed into Simscape model. With the 3D Simscape robot model, the stability of biped walking based on ZMP(Zero Moment Point) control method will be evaluated.
PC에서 운용되는 스카라형 로보트의 오프-라인 프로그래밍 시스템
박민조,손권,안두성,Park, Min-Jo,Son, Kwon,Ahn, Doo-Sung 대한기계학회 1995 대한기계학회논문집 Vol.19 No.2
An off-line programming (OLP) system was proposed and developed in order to save cost and time in adjusting a robot to new workcells or applying new algorithms to actual trajectory planning. The developed OLP system was especially designed to be operated in a PC level host computer. A SCARA robot with four axes was selected as an objective robot. The OLP system developed in this study consisted of such modules as data base, three-dimensional graphics, kinematics, trajectory planning, dynamics, control, and commands. Each module was constructed to form an independent unit so that it can be easily modified or improved. The OLP system was programmed for a graphic user interface in Borland $C^{++}$ language. Some of system operating commands and an interpreter were devised and used for more convenient programming of robot simulations.s.
홍성우(Seong-Woo Hong),안두성(Doo-Sung Ahn) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.4
The paper discusses the robot soccer for the mulit-agent. We focus on the design and development of a controller for the position control and the cooperative strategy of wheeled mobile robots. The position control system is the problem faced by an agent that learns its behavior through trial-and-error interactions with a dynamic environment. First, we design the position control function and it makes a desired moving pattern by controlling the reflection ratio of distance and angle error that have influence on tile determining of speed and path of soccer robot and seondly propose the searching method for these parameters that are changeable in the variable environment by using genetic algorithm. Finally, Q-learning and Fuzzy inference system are combined to apply the performance of the team playing in MiroSot team.