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최혁렬 成均館大學校 科學技術硏究所 1996 論文集 Vol.47 No.1
Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.
박재준, 김동주, 최혁렬 성균관대학교 기계기술연구소 2001 성균관대학교 논문집 기계기술편 Vol.4 No.1
This paper describes the locomotion method of Walking robots by introducing two robots, a biped walking robot and a quadraped walking robot, whnch we have manufactured. The biped robot made of LEGO MINDSTORM has bean destined to have the minimal number of actuator. It presents a locomotion method in which robots can walk with a few actuators. The Quadraped Walking robot has three dgree of freedom per a leg, and use RC Servo motor as actuator. we researched walking pattern of quadrated walking robot through this robot. In this paper we also discuss the problems of developing walking robots and solutions.
Biomimetic soft actuator: design, modeling, control, and applications
Choi, Hyouk Ryeol,Jung, Kwangmok,Ryew, S.,Nam, Jae-Do,Jeon, Jaewook,Koo, Ja Choon,Tanie, K. IEEE 2005 IEEE/ASME transactions on mechatronics Vol.10 No.5
A new biomimetic linear actuator named Antagonistically Driven Linear Actuator (ANTLA) that could be directly employed in both macro and microscale of robotic applications is introduced in the present work. The presented actuator provides cost effectiveness and simple fabrication process thanks to its plain construction. In addition to producing basic bidirectional rectilinear motions, the actuator is able to modulate its compliance that might be one of the critical elements of the actuator functionality for the biomimetic applications. For the test, the proposed actuator concept is fabricated and assembled in a microscale robot that generates annelid motion.
Electrostatically Driven Soft Polymer Actuator Based on Dielectric Elastomer
Choi, Hyouk Ryeol,Jung, Kwang Mok,Koo, Ja Choon,Nam, Jae Do,Lee, Young Kwan,Cho, Mi Suk Trans Tech Publications, Ltd. 2005 Key Engineering Materials Vol.297 No.-
<P>ElectroActive Polymers (EAPs) are emerging as new actuating means replacing the existing technologies such as piezoelectric, electrostatic, SMA etc. The dielectric elastomer actuator is regarded as the one of the most practically applicable actuators in the near future among the EAPs. In this paper, we introduce a new material capable of being employed as the dielectric elastomer actuator. The proposed material, which is a kind of the synthetic rubber, produces larger deformation as well as higher enegy efficiency, since it has a much higher dielectric constant compared to the previous ones. Beginning with the method of material synthesis, we give the description of its basic material properties by comparing with those of the existing materials for the dielectric elastomers. Also, the advantages of the proposed material as the actuating means are discussed with the several results of the experiments. </P>
Development of a Soft Linear Motion Actuator Using Synthetic Rubber
Choi, Hyouk Ryeol,Jung, Kwang Mok,Jung, Min Young,Koo, Ja Choon,Nam, Jae Do,Lee, Young Kwan Trans Tech Publications, Ltd. 2006 Key Engineering Materials Vol.306 No.-
<P>As ElectroActive Polymers (EAPs) attract keen attentions from various engineering fields, they have been proven more beneficial over the traditional electromagnetic transducers. In the present paper, a new polymeric material that could be adopted for a dielectric elastomer actuator is introduced. The proposed synthetic rubber produces larger deformation at higher energy efficiency compared to previously known dielectric elastomers. A method for the material synthesis and a set of comparative testing of the material to the existing material are to be mentioned in the present work. In addition, benefits of actuators made with the proposed material are discussed. </P>
Cooperative Manipulation of a Virtual Object by Multiple Remote Users
Choi, Hyouk-Ryeol,Ryew, Sung-Moo The Korean Society of Mechanical Engineers 2000 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.14 No.9
In this paper, we explore the issues of force display in the cooperative virtual environment shared by multiple users distributed over the network with heterogeneous hardware platforms. The proposed method is to cope with the problem of small time delay and the difference of sampling rate in the distributed configuration. In the proposed approach the interaction forces of the participants are just treated as the independent sources of acceleration. Thus the action of a participant simply changes the acceleration of the virtual object and consequently the states of the virtual object will be updated. When the updated states are reported to all the participants, the information on the time of state changes is delivered, too. Employing the discrete state information updated by the other users, each user modifies his own virtual environment and pseudo-realtime simulation can be realized. Excluding the software interface and the communication technique, it is proposed the simulation method for the operation of respective users and the way of calculating the driving input to the display device. For experimental verification we construct a cooperative virtual environment shared by two remote users and outline the results of experiments.
On the Study of Antagonistic Tendon Driven System
Choi, Hyouk-Ryeol 成均館大學校 科學技術硏究所 1996 論文集 Vol.47 No.1
양방향 모두 능동 액츄에이터에 의하여 구동되는 장력구동시스템의 특성, 시스템설계, 제어방법에 관하여 제안한다. 장력구동시스템은 고전적인 동력전달방법의 하나인 동시에 현재에도 로봇을 비롯한 다양한 메카니즘에 많이 사용되고 있음에 착안하였다. 먼저, 장력구동시스템의 모델링을 통하여 동력전달계의 마찰, 텐던의 늘어짐 등에 의하여 발생하는 선천적인 단점들에 관하여 논하고 제어기의 설계에 미치는 영향에 관하여 살펴보게 될 것이다. 또한, 이를 바탕으로 쌍방향으로 장력에 의하여 구동되는 단관절 매니퓰레이터의 토오크 및 위치제어 방법을 제안하고 이의 성능을 실험을 통하여 입증하게 될 것이다.