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김연훈 ( Yeon Hoon Kim ),윤석준 ( Suk June Yoon ),이동연 ( Dong Yeon Lee ),곽윤근 ( Yoon Keun Kwak ) 한국감성과학회 2001 추계학술대회 Vol.2001 No.-
The mechanism design of the interactive emotional robot has been carried out. The two-wheeled inverted pendulum type mechanism was adopted to improve the mobility and make the innate clumsy monoaxial bicycle motion. Even though the system is unstable in itself, it is expected for the robot to move freely in a plane, keeping the upright position only with two wheels. Two motors attached on head can make 4 motion sets, and two motors on the wheels can make 8. Therefore, 32 independent motion sets can be achieved from the robot to communicate the emotions with humans. The motion``s equation of the robot was derived based on nonholonomic dynamics, and the necessary power to the wheel``s rotational axis was found by simulation.
김연훈 ( Yeon Hoon Kim ),이동연 ( Dong Yeon Lee ),김병수 ( Byung Soo Kim ),곽윤근 ( Yoon Keun Kwak ) 한국감성과학회 2002 춘계학술대회 Vol.2002 No.-
We made a human-sensitive motion interpretation to the interactive emotional robot, "Rai" of which the mechanism design was carried out and completed. Kinematic system of this emotional robot mainly consists of a body and a head. The body contains the total control units , the communicat ion modules and also two wheels and motors for main driving which make kinds of motions 1 ike the inverted pendulum. This robot system is designed under the concept on the human-friendly mot ion and react ion wi th humans around living room and office environments. Therefore, various scenarios are constructed in order to enable the emotional expressions at those places. Especially, we interpreted technically-possible motions while accommodating to the scenarios constructed. And we performed some experiments to make sere of the possibility of the motion interpretation.
[차량운동성능부문] 바퀴형 주행 로봇의 계단 등반 능력 분석
김연훈(Yeon Hoon Kim),장준현(Joonhyun Jang),이청희(Cheong Hee Lee),우춘규(Chun-Kyu Woo),김문상(Mun Sang Kim),곽윤근(Yoon Keun Kwak) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The application area of mobile robot is getting wider with the technology. Accordingly mobile robot is needed to use in the rough environment So, it is necessary for mobile robot to be able to navigate and cope with bad conditions when it is placed in rough environment. In this paper, a new type of six-wheeled mobile robot which enable to navigate rough road is developed. Stairs especially among the rough road environment are selected to analyze the ability of overcoming the worst case of stair climbing through the navigation. Since there is no sensor required to discriminate between stairs and floors, the reliability for extreme condition and energy efficiency is high. By these advantages, it will be applicable to reconnaissance and mine detection in military use, and fIre repression and pollution investigation in civil use.
김연훈(Yeon Hoon Kim),이동연(Dong Yeon Lee),김수현(Soo Hyun Kim),곽윤근(Yoon Keun Kwak) 한국자동차공학회 2002 한국자동차공학회 Symposium Vol.2002 No.11
Recent researches in the robotics have been directed to the interaction between humans and robots, similarly to the<br/> relationship between humans and animals. We developed the interactive emotional robot, "RAI" that can be adapted<br/> to the human living environments. This paper presents the mechanism design and dynamic analysis of the newlydeveloped<br/> robot considering its emotional meanings and operations. The two-wheeled inverted pendulum type<br/> mechanism is selected to this robot system, because it can improve the mobility as lower curve radius and make the<br/> innate clumsy monoaxial motion while controlling it. This robot can move freely in a plane with the help of various<br/> sensors including gyro.
[차량운동성능부문] 가변형상 무한궤도 차량의 링크형 트랙 설계 및 해석
이청희(Cheong Hee Lee),김연훈(Yeon Hoon Kim),우춘규(chun-Kyu Woo),장준현(Joonhyun Jang),김문상(Mun Sang Kim),곽윤근(Yoon Keun Kwak) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper introduces a link-type track for variable configuration tracked vehicle(VCTV). Many of VCTV have been developed due to the adaptability to the cluttered environment. But Most of VCTV have additional mechanism and power to reconfigure the track according to the environment interacting with the VCTV. We proposed the new link-type VCTV that has the adaptability to the environment but no mechanism attendant on changing the configuration of track. This mechanism has four frames encircled with track and two frames on either side are connected as link structure. The link structure makes the vehicle small with climbing stairs. And the motion of link is determined by external force created when the VCTV contacts the environment. Additionally, we corrected the shape of frame in order to increase wall-climbable friction coefficient range.