LiDAR-based Mapping Considering Laser Reflectivity in Indoor Environments

Roun Lee, Jeonghong Park, Seonghun Hong

Light detection and ranging (LiDAR) sensors have been most widely used in terrestrial robotic applications because they can provide dense and precise measuremen...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.135

Fast Motion Planning of Wheel-legged Robot for Crossing 3D Obstacles using Deep Reinforcement Learning

Soonkyu Jeong, Mooncheol Won

In this study, a fast motion planning method for the swing motion of a 6x6 wheel-legged robot to traverse large obstacles and gaps is proposed. The motion plann...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.143

Robust Trajectory Tracking Control of Mecanum Wheeled AGV Using State Space Disturbance Observer Based Impedance Control and ISMC

Hyoseok Cheon, Seungkyu Park

Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory t...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.155

Development of Multi-DoF Automatic Nasopharyngeal Swab Sampling Robot

Jongbok Lee, Hobin Kim, Sunwoo Kim, Sangdo Kim, Hoseok Lee, Yong-Jae Kim, Shinsuk Park, Jongwon Lee

To control the spread of COVID-19, it is important to identify the infection in its incipient stages so that the infected persons can be dealt with accordingly....

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DOI: https://doi.org/10.7746/jkros.2023.18.2.164

Research on Stability of Control for Quadruped Robot with Robust Leg Structure Design

Hosun Kang, Jaehoon An, Hyeonje Cha, Wookjin Ahn, Hwayoung Song, Inho Lee

This paper presents research on the stability of control for a quadruped robot with two different leg structure designs. The focus of the research is on the des...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.172

Gait Phase Estimation Method Adaptable to Changes in Gait Speed on Level Ground and Stairs

Hobin Kim, Jongbok Lee, Sunwoo Kim, Inho Kee, Sangdo Kim, Shinsuk Park, Kanggeon Kim, Jongwon Lee

Due to the acceleration of an aging society, the need for lower limb exoskeletons to assist gait is increasing. And for use in daily life, it is essential to ha...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.182

Development of Brace-type Wearable Robot for Lumbar Stabilization

Joowan Kim, Jaehoon Sim, Keewon Kim, Sungun Chung, Jaeheung Park

An abdominal brace is a recommended treatment for patients with lumbar spinal disorders. However, due to the nature of the static brace, it uniformly compresses...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.189

Study on Extending Sensing Range of Fiducial Marker using Tilt Camera

Kyon-Mo Yang, Jeonghoon Kwak, Kap-Ho Seo

This paper studies the method to extend the sensing range of a fiducial maker using a tilt camera. In the system that uses a fiducial marker to estimate their p...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.197

The Implementation and Analysis of Facial Expression Customization for a Social Robot

Jiyeon Lee, Haeun Park, Temirlan Dzhoroev, Byounghern Kim, Hui Sung Lee

Social robots, which are mainly used by individuals, emphasize the importance of human-robot relationships (HRR) more compared to other types of robots. Emotion...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.203

An Analysis of Quality Attributes and Service Satisfaction for Artificial Intelligence-based Guide Robot

Miyoung Cho, Jaehong Kim, Daeha Lee, Minsu Jang

Guide robots that provide services in public places have recently emerged as a non-face-to-face solution with the spread of COVID-19 and are growing. However, m...

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DOI: https://doi.org/10.7746/jkros.2023.18.2.216