In-Bae Jeong

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This paper proposes particle swarm optimizationbased central pattern generator (CPG) to generate rhythmic signals for fish-like locomotion of robotic fish. The robotic fish’s wave form approximates fish’s traveling wave. Since each joint angle of the robotic fish is modeled by a periodic function, it can be easily produced by a CPG. A CPG consists of(More)
Central Pattern Generator (CPG) consists of biological neural networks that generate coordinated rhythmic signals for the control of locomotion of vertebrate and invertebrate animals, such as walking, running, swimming and flying. In this paper, an evolutionary optimized CPG structure is proposed for generating fish-like locomotion of the robotic fish by(More)
Ubiquitous robot consists of various software and hardware platforms with various functions with different interfaces. In practical sense, it is impossible for software agents to hold all information related to other sensors or mobile robots. This makes it difficult to develop software agents and, at the same time, implement both modularity and scalability(More)
Robot systems are developed using various hardware and software components. In conventional design methodology, each hardware component and its software are strongly coupled such that it is not easy to replace or expand them separately. For the independent development and replacement of hardware and software components, this paper proposes a novel robot(More)
Since the heading direction of a robotic fish continuously changed when it is swimming, its surrounding information may not be easily obtained from a front camera equipped on the robotic fish's head. Also, it is difficult to know both the heading direction, which is direction of robotic fish's head and the swimming direction, which robotic fish are moving(More)
The crux of the realization of task intelligence for robots is to design the memory module for storing temporal event sequences of tasks, the mechanism of thought for reasoning, and motion planning methodology for execution, among others. In this paper, task intelligence is realized using episodic memory, neural model-based mechanism of thought, and an(More)
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