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Guard Robots for Social Security
Researchers
Byeong-Sang Kim (Ph.D. lovidia@gmail.com), Ki-Seok Kim (Master)
Research Period
2006. 10. ~ 2009. 09.
Research Background
The use of robots is increasing in various areas related to security, such as crime prevention, rescue, and reconnaissance.
This requires high mobility to overcome a obstacles and cope with different situations.
Jumping Guard Robot: Guardian
Research Objectives
Development of a portable guard robot capable of jumping.
Small size and light-weight ⇒ Portable and throwable .
Overcoming obstacles, traps, pools, etc.
Durability against shock and impact.
Guardian
Size: 15cm(D)x30cm(L)
Weight: 3kg
Jump height: 20cm
Max. speed: 2m/s
Sensors: 3-axis acceleration sensor, 3-axis gyro sensor, PSD sensor
Jumping Mechanism
Jumping mechanism based on a conical spring and clutch mechanism.
Conical spring: A resentative nonlinear, hardening spring.
Clutch mechanism: Based on a planetary gear trains and one-way clutch.
Stair Climbing
Most difficult obstacle for small-sized robot.
Size of the stair: 20cm(H) x 30cm(D) x 50cm(W)
Patrolling
Most popular application for social security robot.
Related Papers
Paper 1: Ki-Seok Kim, Byung-Sang Kim, Jae-Bok Song, Chung-Hyuk Yim, Mobility Improvement of a Jumping Robot using Conical Spring with Variable Length Endtip, Journal of Institute of Control, Robotics and Systems, Vol. 15, No. 11, pp. 1108-1114, 2009.
Paper 2: Byeong-Sang Kim, Jang-Woon Lee, Hyun-Jung Kim, Quy-Hung Vu and Jae-Bok Song, Development of Conical Spring-based Jumping Mechanism for a Portable Robot, KSME Annual Spring Meeting, pp. 1195-1200, 2007.
Paper 3: Ki-Seok Kim, Byeong-Sang Kim, Jae-Bok Song, Eun-Seok Kim, Adjustable Jumping Angle-Height Mechanism for a Jumping Robot, KSME Annual Spring Meeting, pp.145-147. 2008.
Paper 4: Byeong-Sang Kim, Ki-Seok Kim, Deog-In Min, Jae-Bok Song, Develpoment of Jumping Mechanism for a Portable Guard Robot, Proc. of 39th International Symposium on Robotics, pp. 162-166, 2008.
Multi-Active Crawler robot (MACbot)
Research Objectives
Development of small-sized track robot with high mobility.
Self-right capability when the robot is overturned.
Stair climbing
MACbot
Size: 27cm(W)x49cm(L)x18cm(H)
Weight: 4kg
Max. height of obstacle: 18cm
Max. speed: 1m/s(normal mode), 0.4m/s(obstacle mode)
Sensors: optical sensor, 3-axis acceleration sensor, PSD sensor
Three Operating Modes
Normal mode- On fine terrain
Obstacle mode- When the robot encounters obstacles
Recovery mode- When the robot is overturned
Stair Climbing
Autonomous stair climbing with sensors information.
Recovery Mode
Recovering its desired pose when the robot is overturned.
Related Papers
Paper 1: Byeong-Sang Kim, Quy-Hung Vu, Jae-Bok Song, Chung-Hyuk Yim, Novel Design of a Small Field Robot with Multi-Active Crawlers Capable of Autonomous Stair Climbing, Journal of Mechanical Science and Technology, Vol. 24, No. 1, pp. 343-350, 2010.
Paper 2: Quy-Hung Vu, Byeong-Sang Kim and Jae-Bok Song, Recoverable Multi-tracked Robot with Capability of Traveling and Crawling Track,KSME Annual Spring Meeting, pp.153, 2008
Paper 3: Quy Hung Vu, Byeong-Sang Kim, Jae-Bok Song, Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot, Proc. of Int. Conf. on Control, Automation and Systems, pp. 2356-2360, 2008.(Outstanding paper award)
Last modified: 2012.05.9
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