http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
윤병호(Byungho Yoon),정태일(Taeil Chung),고두열(Doo-Yeol Koh),김수현(Soohyun Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.3
Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede’"s legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot’"s height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot’"s height and 58 % of the robot’"s length.
하창완(Chang-Wan Ha),이동욱(Dongwook Lee),윤병호(Byungho Yoon),류근호(Keun-Ho Rew),김경수(Kyung-Soo Kim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.11
In this paper, we discuss the relation between the motion profile and pre-filter. As previously reported in various literatures [1-3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper. In contrast to the previously reported impulse-sequence-based input shapers, the input shaper extracted from the motion profile has unique characteristics. Thanks to the characteristics of the input shaper extracted from the motion profile, it has advantages to reduce the vibrations caused by not only the modeled vibratory mode but also unmodeled dynamics which exist in higher frequency ranges.