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Article
Task-oriented navigation algorithms for an outdoor environment with colored borders and obstacles
This paper presents task-oriented navigation algorithms used for an outdoor environment. The goals of the navigation are recognizing colored border lines on both sides of a path, avoiding obstacles on the path...
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Article
Forward kinematic singularity avoiding design of a Schönflies motion generator by asymmetric attachment of subchains
In most of the previous studies on parallel mechanisms (PMs), architectural design mainly relying on symmetric geometry was investigated without in-depth analysis of its performance. This work demonstrates tha...
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Chapter and Conference Paper
An Orbital Velocity-Based Obstacle Avoidance Algorithm for Surgical Robots
This paper introduces an obstacle avoidance methodology of autonomous assistant robot for surgery. Currently employed master-slave surgical robots just copy movements that a surgeon creates. This kind of behav...
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Article
Motion planning algorithms of an omni-directional mobile robot with active caster wheels
This work deals with motion planning algorithms of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control of such omni-directional mobile robot, which has ...
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Article
Navigation strategy of multiple mobile robot systems based on the null-space projection method
This paper deals with a navigation algorithm for swarm robot systems in which multiple mobile robots work together. The motion of each mobile robot is modeled in such a way to have more inputs than the number ...
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Article
Cadaver study for spinal fusion surgery using an image-guided surgical robot system
We present a novel surgical robotic system for spinal fusion that includes a computer-based planning algorithm, O-type bi-planar fluoroscopy, and a surgical robot. The planning system determines a surgical pat...
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Article
Screw-based kinematic modeling and geometric analysis of planar mobile robots
Typical mobile robots can be modeled as parallel mechanisms by employing an interfacing variable between the ground and the wheels. Based on this conception, the screw theory was employed in the following work...
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Chapter
Intelligent Mobility Playing the Role of Impulse Absorption
In reality, biomechanical systems such as the human-body, mammal, and birds physically collide or interact with environment. Intelligent mobility inherent in biomechanical systems plays the role of absorbing t...
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Article
Topology optimization of a PCB substrate considering mechanical constraints and heat conductivity
A material mixing method was suggested to obtain an optimal topology for a multiple material structure with multiple thermal criteria, based on Evolutionary Structural Optimization (ESO). To examine the validi...
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Article
Analysis of internal loading at multiple robotic systems
When multiple robotics systems with several sub-chains grasp a common object, the inherent force redundancy provides a chance of utilizing internal loading. Analysis of gras** space based internal loading is...
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Article
Analysis for a planar 3 degree-of-freedom parallel mechanism with actively adjustable stiffness characteristics
A planar three degree-of-freedom parallel manipulator has been extensively studied as the fundamental example of general parallel manipulators. It is proven from previous work (Kim, et. al., 1996) that when th...
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Article
Optimal dynamic design of anthropomorphic robot module with redundant actuators
In this paper, a study on the optimal dynamic design for an anthropomorphic robot module with redundant actuators is performed. Musculoskeletal structure of human body is a typical example of redundantly actua...
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Article
Analysis of a planar 3 degree-of-freedom adjustable compliance mechanism
In this work, a planar three degree-of-freedom parallel mechanism as another type of assembly device which utilizes joint compliances is proposed. In order to generate the desired operational compliance charac...
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Article
Optimal synthesis of a wrist-type 6 degree-of-freedom force/ torque sensor using Stewart Platform Structure
The F/T sensor investigated in this study utilizes the Stewart Platform Mechanism Structure. Normally-employed 6-prismatic joints are replaced by 6-prismatic bars, which are extensible and compressible only al...
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Article
Optimal design of a redundantly actuated 4-legged six degree of freedom parallel manipulator using composite design index
This work attempts to develop a procedure for the optimal design of a redundantly actuated six degree of freedom parallel manipulator. A concept of composite design index is developed to deal with multi-criter...
