Development and Verification of UAV-UGV Hybrid Robot System

Jongwoon Woo, Jihoon Kim, Changhyun Sung, Byeongwoo Kim

In this paper, we proposed a hybrid type robot that simultaneously surveillance and reconnaissance on the ground and in the air. It was possible to expand the s...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.233

Posture Stabilization Control of Biped Transformer Robot under Disturbances

Geun-Tae Kim, Myung-Hun Yeo, Jung-Yup Kim

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectan...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.241

A Fusion Algorithm of Pure Pursuit and Velocity Planning to Improve the Path Following Performance of Differential Driven Robots in Unstructured Environments

Bongsang Kim, Kyuho Lee, Seungbeom Baek, Seonghee Lee, Heechang Moon

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot ...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.251

Infrared Visual Inertial Odometry via Gaussian Mixture Model Approximation of Thermal Image Histogram

Jaeho Shin, Myung-Hwan Jeon, Ayoung Kim

We introduce a novel Visual Inertial Odometry (VIO) algorithm designed to improve the performance of thermal-inertial odometry. Thermal infrared image, though a...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.260

Noise Removal of FMCW Scanning Radar for Single Sensor Performance Improvement in Autonomous Driving

Wooseong Yang, Myung-Hwan Jeon, Ayoung Kim

FMCW (Frequency Modulated Continuous Wave) radar system is widely used in autonomous driving and navigation applications due to its high detection capabilities ...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.271

Implementation of Real-time EtherCAT Control System based on Open Source

Yunjin Kyung, Dongil Choi

Real-time control communication network system is important for developing defense robots because it affects environmental interaction, performance, and safety....

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DOI: https://doi.org/10.7746/jkros.2023.18.3.281

Design and Analysis of Leg Linkage of Small-scale Insect-inspired Ground Mobile Robot

Sojung Yim, Seongjun Lee, Sang-Min Baek, Seokhaeng Huh, Jaekwan Ryu, Kyu-Jin Cho

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of ...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.285

A Study on the Training Methodology of Combining Infrared Image Data for Improving Place Classification Accuracy of Military Robots

Donggyu Choi, Seungwon Do, Chang-eun Lee

The military is facing a continuous decrease in personnel, and in order to cope with potential accidents and challenges in operations, efforts are being made to...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.293

Reducing the Minimum Turning Radius of the 2WS/2WD In-Wheel Platform through the Active Steering Angle Generation of the Rear-wheel Independently Driven In-Wheel Motor

Taehyun Kim, Daekyu Hwang, Bongsang Kim, Seonghee Lee, Heechang Moon

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platf...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.299

A Study on AI-Enabled Combat Cases of Ukrainian Armed Forces in the RMA (Revolution in Military Affairs) Aspect

Sang Keun Cho, Andrii Zhytko, Ki Won Kim, In Keun Son, Sang Hyuk Park

Russia invaded Ukraine in February 2022. Many military experts predicted that Russia could defeat Ukraine within a week, but the Ukraine-Russia War has not been...

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DOI: https://doi.org/10.7746/jkros.2023.18.3.308