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김태경(Tae-Kyung Kim),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),김용석(Yong-Serk Kim) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
This paper proposes a geomagnetic map based localization method for indoor robot system. Geomagnetic field is distorted by reinforced concreate or metal objects in indoor environment. The distortion provides a unique feature that can be utilized in localization. The measured magnetic data set is translated and encoded into unique posture data set in the magnetic map. An Extended Kalman Filter embedded motion prediction model for mobile robot is combined with the generated world map to solve SLAM problem. An experiment has been carried out to test the proposed approach.
이족보행로봇의 걸음새 제어를 위한 지능형 학습 제어기의 구현
임동철(Dong-Cheol Lim),국태용(Tae-Yong Kuc) 대한전기학회 2010 전기학회논문지 P Vol.59 No.1
This paper presents an intelligent learning controller for repetitive walking motion of biped walking robot. The proposed learning controller consists of an iterative learning controller and a direct learning controller. In the iterative learning controller, the PID feedback controller takes part in stabilizing the learning control system while the feedforward learning controller plays a role in compensating for the nonlinearity of uncertain biped walking robot. In the direct learning controller, the desired learning input for new joint trajectories with different time scales from the learned ones is generated directly based on the previous learned input profiles obtained from the iterative learning process. The effectiveness and tracking performance of the proposed learning controller to biped robotic motion is shown by mathematical analysis and computer simulation with 12 DOF biped walking robot.
로봇을 활용한 배전 활선공법 기술분석 및 적용 타당성 연구
양선제(Seon-Je Yang),국태용(Tae-Yong Kuc),박춘식(Choon-Sik Park),서인용(In-Yong Seo) 대한전기학회 2018 전기학회논문지 Vol.67 No.9
This paper analyzes robotic technology developed for live-line electricity distribution and its applicability to domestic environment. In doing so, available robotic systems developed for the live-line work are thoroughly investigated and compared in terms of from robotic functionality to economic feasibility. To assess the technology readiness for domestic live-line robot, the rubber gloves based direct live-line engineering methods have been also analyzed and mapped into robotic technology requisites. The results are expected as a fundamental data to help with solving the safety and economics issues when considering development and introduction of compact live-line robot for complex domestic electricity distribution environment.