바이오로보틱스 Biorobotics

박성호

저자:박성호

UniversityofAlabama기계과졸업(Ph.D)

UniversityofIllinois기계과졸업(M.S)

한양대학교기계과졸업(B.S)

1994~2021동양대학교교수

2021~2023동양대학교명예교수

저서[보행로봇공학의이해],[ElementaryEngineeringMathematics]

[편미분방정식의기초및응용](근간)

주요활동

(현)한국화재감식학회장

국토교통부,철도기술심의위원회전문위원

미국화재폭발조사관교육담당

경북,지방건설기술심의위원

산기평중소기업기술개발지원사업평가위원

산기평중앙장비심의위원회위원

한국산업기술진흥원기술사업화자문단위원

부산교통공사기술자문위원

서울메트로기술자문위원

Chapter1바이오로봇/11
1.1개론/13
1.2장점/16
1.3생체모방/19
1.4생물학과공학의관계/23
1.5결론/28

Chapter2개발현황/33
2.1개발역사/35
2.2생체모방의적용/49
2.2.1InsectLegModel/50
2.2.2CyborgCockroach/51
2.2.3Ant/52
2.2.4GeckoLizard/53
2.2.5StMA/56
2.36-족보행로봇의최근개발현황/57
2.44-족보행로봇의최근개발현황/58
2.5바이오로봇의미래/69
2.6결론/71

Chapter3척추동물/77
3.1개론/78
3.2특징/85
3.3구성/91
3.3.1근육/91
3.3.2뼈/95
3.3.3관절/100
3.4척추동물의보행/103
3.4.1연구방식/105
3.4.2걸음새표시방법/110
3.4.3척추동물의걸음새/113
3.4.4척추동물의걸음새의예/118
3.5AnimalModeling/142
3.5.1Modeling/143
3.6결론/155

Chapter4InsectsModeling/161
4.1개론/162
4.2특징/165
4.3구성/170
4.3.1BodyStructure/171
4.3.2LegSensor/176
4.3.3LegStructure/180
4.3.4LegFunction/183
4.4InsectModel/185
4.4.1StickInsect/186
4.4.2Cockroach/194
4.4.3Caterpillar/201
4.4.4Centipede/205
4.5Jumping/212
4.5.1SDMofLIS/213
4.6Flying/214
4.6.1Insect/215
4.6.2Moth/218
4.6.3Butterfly/219
4.6.4AvianBipedalLocomotion/222
4.7결론/223

Chapter5보행로봇의운동학/227
5.1운동학(Kinematics)/228
5.1.1관성좌표계/228
5.1.2직선운동을하는좌표계/230
5.1.3접선과법선좌표계/231
5.1.4극좌표계/233
5.1.5직선과회전운동을하는좌표계/235
5.2좌표의변환/237
5.2.1원점이같은두좌표계의관계/238
5.2.2원점이같은세좌표계의관계/242
5.2.3좌표변환의예/245
5.3정운동학(ForwardKinematics)/250
5.3.1일반적좌표의변환/251
5.3.2Denavit-Hartenberg(D-H)좌표의변환/257
5.3.3기타좌표의변환/261
5.3.4D-H방식의적용예(1)/263
5.3.5D-H방식의적용예(2)/272
5.3.6D-H방식의적용예(3)/278
5.3.7SchillingMethodforAlphaII/285
5.3.8SchillingMethodofSCARARobot(2)/291
5.4역운동학(InverseKinematics)/296
5.4.1Microbot/297
5.4.2PlanarRobot/306
5.4.3PUMA560/316
5.4.4ScaraRobot/328
5.5결론/330

Chapter6로봇의동역학/331
6.1개론/332
6.2IterativeNewton-EulerMethod/335
6.3모델에적용예/340
6.4D’Alembert원리의적용/343
6.5LagrangianDynamics/347
6.6결론/356

Chapter7Simulation/359
7.1개론/360
7.2보행로봇의모델링/360
7.3보행로봇의기계적효율/366
7.4보행중다리의위치/367
7.5발끝점의궤적/370
7.6ComputerSimulationWork/377
7.7SimulationResults/422
7.7.1ReactionForce/422
7.7.2DirectionAngle/423
7.7.3FrontForwardStrokeDistance/425
7.7.4FrontRearStrokeDistance/426
7.7.5RearForwardStrokeDistance/427
7.7.6RearBackwardStrokeDistance/427
7.8결론/428

Chapter8MotionKinematics/431
8.1개론/432
8.2Three-DimensionalCase/442
8.3결론/457

생명체들이가진특성들은이미1950년대부터의학,약학분야에서유용하게사용되고있다.물고기나새들은배나비행기로재현되었지만bio-inspiredrobot의경우아직까지다리가달린척추동물이나작은곤충들은완벽하게모사되고있지않은현실이다.미국과일본을중심으로활발하게관련연구가진행되고있지만관련된국제학회에서국내연구자들의논문발표는매우제한적이다.흔히그러했듯이첨단분야를연구하는기관들의경우논문발표에제한을두고있으며연구내용의공개를꺼리고있는현실이다.Spot은현재까지발전된형태지만효과적인로봇이되기위해선아직해결해야할많은기술들이산적해있다.이를극복할수있는방법은동물을모델로하여이를모사하는것이다.
-‘preface’중에서
기존의로봇들은고정된위치에서주어진기능을반복하여수행하는역할만을한다.로봇이스스로움직이며다양한기능을수행하기위해서는바퀴나다리가장착되어움직여야하며움직이는동안에넘어지지않아야한다.이를위해서는다리가6개,또는8개달린곤충이나다리가4개달린척추동물의구조및보행특성을로봇설계에적용할수있다.
미국유학때부터생물학을모방한Bio-inspiredrobot은미래의먹거리가될것이라는확신을가지고꾸준하게보행로봇을꾸준히연구해온저자의연구물이이책에실려있다.