LiRoT

1. Research Topic



LiRoT : Lizard inspired Robot with operated Tail
      

Fig.1 Concept of dragon lizard robot         Fig.2 Zebra-tailed lizard


2. Research Contents



A Lizard runs very fast at a constant speed, since its center of mass is relatively low comparing to other animals and its legs are sprawled on the side of the body. Owing to its physical condition, a lizard can run fast even on an environment with many obstacles.
Therefore we study about how a lizard’s running mechanism is working and apply it to running robot.
 

1. Previous work

The leg of a lizard saves the kinetic energy when it lands and uses the energy when it kicks the floor. Through this action and reaction, it saves the energy and can run at a constant speed. Therefore we study a leg mechanism of the lizard in effort to make a jumping leg.

 

                          

Fig.3 Optimization of rear foot trajectory of lizard using four bar linkage
                                                                         < Movie : A leg using crank-slide mechanism >

We will make a running robot with four jumping legs. The robot will run with a dynamic gait (2-0-2-0) and control itself not to fall down during running.
 


3. Publication



• 김정률, 김종원, 박재흥, 김종원 "저속 주행 시 도마뱀 몸체의 편요 움직임을 제어하는 허리 및 꼬리의 움직임 원리" 제어로봇시스템학회논문지19620-025  2013 [PDF]

• Doyoung Chang, Jeongryul Kim, Dongkyu Choi, Kyu-Jin Cho, TaeWon Seo, Jongwon Kim "Design of a slider-crank leg mechanism for mobile hopping robotic platforms" JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY27207-214  2013 [PDF]

• Misop Han, Doyoung Chang, Chunwoo Kim, Brian J. Lee, Yihe Zuo, Hyung-Joo Kim, Doru Petrisor, Bruce Trock, Alan W. Partin, Ronald "Geometric Evaluation of Systematic Transrectal Ultrasound Guided Prostate Biopsy" Journal of Urology1882404-2409  2012 [PDF]

• Doyoung Chang, Jeongryul Kim, Dongkyu Choi, Kyu-Jin Cho, TaeWon Seo, and Jongwon Kim "Design of a Slider-Crank leg Mechanism for Mobile Hopping Robotic Platform" Journal of Mechanical Science and Technology  2011 [PDF]

• Keyhwan Kim, Sungcheul Lee, Kyoubum Kim, Kyu-yeul Lee, Seungjin Heo, Kihong Park, Jay-il Jeong and Jongwon Kim "Development of the end-effector measurement system for a 6-axis welding robot" International Journal of Precision Engineering and Manufacturing11519-526  2010 [PDF]

• Donghoon Son, Dongsu Jeon, Woo Chul Nam, Doyoung Chang, TaeWon Seo, Jongwon Kim "Gait planning based on kinematics for a quadruped gecko model with redundancy" Robotics and Autonomous Systems58648-656  2010 [PDF]

• Donghoon Son, Dongsu Jeon, Woo Chul Nam, Doyoung Chang, TaeWon Seo and Jongwon Kim "Gait planning based on kinematics for a quadruped gecko model with redundancy" Robotics and Autonomous Systems58648-656  2010 [PDF]

• Woochul Nam, TaeWon Seo, Byungwook Kim, Dongsu Jeon, Kyu-Jin Cho, and Jongwon Kim "Kinematic analysis and experimental verification on the locomotion of gecko" Journal of Bionic Engineering6246-254  2009 [PDF]

• Woochul Nam, TaeWon Seo, Byungwook Kim, Dongsu Jeon, Kyu-Jin Cho, Jongwon Kim "Kinematic Analysis and Experimental Verification on the Locomotion of Gecko" Journal of Bionic Engineering6246-254  2009 [PDF]

• Doyoung Chang, Jeongryul Kim, Dongkyu Choi, Kyu-Jin Cho, TaeWon Seo, Jongwon Kim "Design of a Crank-Slider Leg Mechanism for Mobile Hopping Robotic Platforms" KSME27207-214   [PDF]

• 김홍민, 김종원, 김정률, 박정애, 김제혁, 배장호 "도마뱀을 모사하는 소형 고속 주행로봇의 추력발생 메커니즘 설계" 한국정밀공학회Jeju  15 05 2015 [PDF]

• 김홍민, 김정률, 김지훈, 김종원 "주행하는 도마뱀의 몸체 움직임 원리를 적용한 소형 로봇의 설계" KROC 2014  21 6. 2014 [PDF]

• 김종원, 서태원, 김정률, 박정애, 김종원 "새로운 4절 링크 설계 방법론을 이용한 도마뱀 모사 로봇의 추진 메커니즘 설계" 한국정밀공학회Changwon  31 10 2014 [PDF]

• 김종원, 김정률, 한용희, 김종원 "Zebra-tailed Lizard 주행에 대한 기구학적 해석" 한국정밀공학회 2012년도 춘계 학술 대회Jeju  12 2012 [PDF]

• 최동규, 이석우, 장도영, 김남수, 홍희승, 김종원 "Development of Mobile Mechanism on Rough Terrain" 한국정밀공학회  6. 06 2011 [PDF]

• 김남수, 장도영, 최동규, 김종원 "Leg Design Using Crank-Slider Mechanism for Hopping Robots" 한국정밀공학회  06 06 2011 [PDF]

• 김남수, 장도영, 최동규, 김종원 "크램크 메커니즘을 이용한 연속적인 점프 수행을 위한 로봇의 다리 개발" 한국정밀공학회 2011 춘계학술대회  06 06 2011 [PDF]

• Doyoung Chang, Namsoo Kim, Dongkyu Choi, TaeWon Seo, Jongwon Kim "Hopping Leg Design Using Crank-Slider Mechanism" International Workshop on Bio-Inspired RobotsNantes  4. 04 2011 [PDF]

• Doyoung Chang, Donghun Son, TaeWon Seo, Dongsu Jeon, Woochul Nam, and Jongwon Kim "Kinematics-based Gait Planning of a Quadruped Gecko-like Model" IEEE International Conference on Robotics and BiomimeticsGuilin  2. 12 2009 [PDF]

• Woochul Nam, TaeWon Seo, Byungwook Kim, Dongsu Jeon, Kyu-Jin Cho, and Jongwon Kim "Kinematic analysis and experimental verification on the locomotion of gecko" International Symposium on Nature-Inspired Technology 2009Jeju  6. 06 2009 [PDF]

• 김종원, 장도영, 김남수, 최동규 "로봇용 다리 및 이를 구비한 로봇" 10-2010-0101874  


4. Researcher



Ph.D : Jeongryul Kim
M. S : Hongmin Kim