Yongkwun Lee

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This paper describes a development of bio-mimetic robot hands and its control scheme. Each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled. According to the study of the human hand, it is noted that coupled muscles (flexor and extensor muscle) generate the finger motion. Each fingertip can reach toward objects by(More)
In the area of Bio robotics, intense research work is going on in plant intelligence. Any living cell continuously receives information from the environment. The plant electrical signal is the reaction of plants to the stimulation due to various environmental conditions. Action potentials are responsible for signaling between plant cells because they can be(More)
Over the past few decades, various haptic devices have been developed in order to control various robot systems remotely. The actuating systems for most existing haptic devices including glove type require lots of external auxiliary equipment. Because of this, the motion of the user is restricted by the length of the electric wires or pneumatic tubes(More)
Over the past few decades, various haptic gloves have been developed for use in virtual environments. The actuating systems for most existing haptic gloves require lots of external auxiliary equipment. Because of this, the motion of the user is restricted by the length of the electric wires or pneumatic tubes attached to this equipment. A compact actuation(More)
During the last decades, the automation for constructing a steel structure has been extensively studied. However, the bolting process is still remained as a manual work, and the human workers climbs the vertical steel beams on top of the high-rise steel structure in many construction fields. The manual bolting process is extremely dangerous and inefficient.(More)
Significant research has been done for bipedal walking and progress has been made, such as the ASIMO robot from Honda. However, although bipedal walking is an efficient solution for movement over uneven surfaces; conversely, bipedal robot walking is inefficient over an even surface because of speed and stability limitations. As a result, using a wheeled(More)
In this paper, a new type bolting robot in steel-frame structure is introduced. The robot is composed of 3-axis gantry arms with linear motion actuators, a bolting tool, a cabin and additional supporting parts. To construct a high-rise building, steel-frame structure is more suitable than reinforced concrete structures. In steel-frame constructions, it is(More)
This paper presents the analysis of grasp stability for a bio-mimetic robot hand by using polygon segmentation algorithm. The presented hand has four independency moving fingers, which are driven by four-coupled link mechanism with two linear actuators. The robot hand was designed considering the dexterity and the compact size suited for various objects in(More)
Vibration becomes a major control issue as industrial robots get lighter and slimmer. Proportional- Integral-Derivative (PID) control is simple and easy to regulate the motion of robots. If gains of PID can be tuned precisely for the given purpose, it will be more beneficial than heavy and complicated control algorithm. The paper introduces the feasibility(More)
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