한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권1호
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  • Pages.11-17
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  • 2013
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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멀티 스케일 다중 전개형 협업 로봇을 위한 요소 기술 개발

Development Fundamental Technologies for the Multi-Scale Mass-Deployable Cooperative Robots

  • 주종남 (서울대학교 기계항공공학부) ;
  • 김한 (서울대학교 기계항공공학부) ;
  • 김정률 (서울대학교 기계항공공학부) ;
  • 송성혁 (서울대학교 기계항공공학부) ;
  • 고제성 (서울대학교 기계항공공학부) ;
  • 허승주 (서울대학교 전기컴퓨터공학부) ;
  • 하창수 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 안성훈 (서울대학교 기계항공공학부) ;
  • 조규진 (서울대학교 기계항공공학부) ;
  • 홍성수 (서울대학교 전기컴퓨터공학부) ;
  • 이동준 (서울대학교 기계항공공학부)
  • Chu, Chong Nam (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Haan (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Jeongryul (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Song, Sung-Hyuk (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Koh, Je-Sung (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Huh, Sungju (Department of Electrical Engineering and Computer Science, Seoul National Univ.) ;
  • Ha, ChangSu (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Jong Won (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Ahn, Sung-Hoon (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Cho, Kyu-Jin (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Hong, Seong Soo (Department of Electrical Engineering and Computer Science, Seoul National Univ.) ;
  • Lee, Dong Jun (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
  • 투고 : 2012.11.09
  • 심사 : 2012.11.19
  • 발행 : 2013.01.01
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초록

'Multi-scale mass-deployable cooperative robots' is a next generation robotics paradigm where a large number of robots that vary in size cooperate in a hierarchical fashion to collect information in various environments. While this paradigm can exhibit the effective solution for exploration of the wide area consisting of various types of terrain, its technical maturity is still in its infant state and many technical hurdles should be resolved to realize this paradigm. In this paper, we propose to develop new design and manufacturing methodologies for the multi-scale mass-deployable cooperative robots. In doing so, we present various fundamental technologies in four different research fields. (1) Adaptable design methods consist of compliant mechanisms and hierarchical structures which provide robots with a unified way to overcome various and irregular terrains. (2) Soft composite materials realize the compliancy in these structures. (3) Multi-scale integrative manufacturing techniques are convergence of traditional methods for producing various sized robots assembled by such materials. Finally, (4) the control and communication techniques for the massive swarm robot systems enable multiple functionally simple robots to accomplish the complex job by effective job distribution.

키워드

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