http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
저속 주행 시 도마뱀 몸체의 편요 움직임을 제어하는 허리 및 꼬리의 움직임 원리
김정률(Jeongryul Kim),김종원(Jong-Won Kim),박재흥(Jaeheung Park),김종원(Jongwon Kim) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.7
Mammals such as dogs and cheetahs change their gait from trot to gallop as they run faster. However, lizards always trot for various speeds of running. When mammals run slowly with trot gait, their fore leg and hind leg generate the required force for acceleration or deceleration such that the yaw moments created by these forces cancel each other. On the other hand, when lizards run slowly, their fore legs and hind legs generate the forces for deceleration and acceleration, respectively. In this paper, the yaw motion of a lizard model is controlled by the movement of their waist and tail, and the reaction moment from the ground produced by the hind legs in simulation. The simulation uses the whole body dynamics of a lizard model, which consists of 4 links based on the Callisaurus draconoides. The results show that the simulated trotting of the model is similar to that of a real lizard when the movement of the model is optimized to minimize the reaction moment from the ground. It means that the body of a lizard moves in such a way that the reaction moment from the ground is minimized. This demonstrates our hypothesis on how lizards trot using body motion.
멀티 스케일 다중 전개형 협업 로봇을 위한 요소 기술 개발
주종남(Chong Nam Chu),김한(Haan Kim),김정률(Jeongryul Kim),송성혁(Sung-Hyuk Song),고제성(Je-Sung Koh),허승주(Sungju Huh),하창수(ChangSu Ha),김종원(Jong Won Kim),안성훈(Sung-Hoon Ahn),조규진(Kyu-Jin Cho),홍성수(Seong Soo Hong),이동준(Do Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.1
Multi-scale mass-deployable cooperative robots’ is a next generation robotics paradigm where a large number of robots that vary in size cooperate in a hierarchical fashion to collect information in various environments. While this paradigm can exhibit the effective solution for exploration of the wide area consisting of various types of terrain, its technical maturity is still in its infant state and many technical hurdles should be resolved to realize this paradigm. In this paper, we propose to develop new design and manufacturing methodologies for the multi-scale mass-deployable cooperative robots. In doing so, we present various fundamental technologies in four different research fields. (1) Adaptable design methods consist of compliant mechanisms and hierarchical structures which provide robots with a unified way to overcome various and irregular terrains. (2) Soft composite materials realize the compliancy in these structures. (3) Multi-scale integrative manufacturing techniques are convergence of traditional methods for producing various sized robots assembled by such materials. Finally, (4) the control and communication techniques for the massive swarm robot systems enable multiple functionally simple robots to accomplish the complex job by effective job distribution.