http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
주입형 PGA를 이용한 휴머노이드 로봇의 넘어짐 자세 개선
안광철(Kwang-Chul An),조영완(Young-Wan Cho),서기성(Ki-Sung Seo) 한국지능시스템학회 2008 한국지능시스템학회 학술발표 논문집 Vol.18 No.1
휴머노이드 로봇이 넘어질 경우, 충격에 의한 손상이 발생할 수 있다. 이를 최소화하는 넘어짐 자세의 생성을 위하여 개선된 PGA 기반의 탐색기법을 제안한다. 다목적함수를 고려한 군집 간 이주방식의 효율적 조합을 통해 넘어짐 충격을 최소화하는 각 관절 궤적을 구할수 있도록 하였다. 제안된 기법의 검증을 위하여 Sony QRIO 로봇에 대해서 ODE 기반의 Webots 시뮬레이션을 이용하여 실험을 수행하였다.
주입-이주형 PGA를 이용한 휴머노이드 로봇의 넘어짐 자세 개선
안광철(Kwang-Chul An),조영완(Young-Wan Cho),서기성(Ki-Sung Seo) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.3
This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a PGA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. Injection-migration PGA technique is introduced and compared with EMO and various migration topologies. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.
신동준(Dong-Jun Shin),박경락(Gyeong-Rak Park),이종학(Jong-Hak Lee),유구현(Gu-Hyun Ryu),이재선(Jae-Seon Lee),안광철(Kwang-Chul An) 한국소음진동공학회 2023 한국소음진동공학회 논문집 Vol.33 No.4
Transport boxes for IFF equipment are used for the operation, storage, and transportation of IFF antenna, interrogators, and encryption devices in the military. Transport boxes can protect IFF equipment during military operation; their functional performance should be verified by the development test and operation test (OT). In this study, the design and manufacture of a transport box for IFF equipment were presented and covered the process of identifying improvement points through the analysis of the causes of defects resulting from drop impact tests, ultimately leading to problem-solving through supplementation. After the drop impact test in the OT, the transport box was dented and bent, and the locking handle function was limited. To identify the cause of the defects, structural and collision analyses were conducted, and durability was improved by applying a reinforcement frame and rubber pads. The shock absorption effect of the rubber pad was calculated as 22.17 %, and there were no issues in the drop test with the improved transport box. Finally, it can be significantly improved by over 80 % using the reinforced IFF box based on the deformation standard.