Flexible docking mechanism using combination of magnetic force with error-compensation capability

Se Gon Roh; Jae Hoon Park; Young Kouk Song; Kwang Woong Yang; Moosung Choi; Hong Seok Kim; Hogil Lee; Hyouk Ryeol Choi

doi:10.1109/COASE.2008.4626554

Flexible docking mechanism using combination of magnetic force with error-compensation capability

Se Gon Roh, Jae Hoon Park, Young Kouk Song, Kwang Woong Yang, Moosung Choi, Hong Seok Kim, Hogil Lee, Hyouk Ryeol Choi

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results.

Original language	English
Title of host publication	4th IEEE Conference on Automation Science and Engineering, CASE 2008
Pages	697-702
Number of pages	6
DOIs	https://doi.org/10.1109/COASE.2008.4626554
State	Published - 2008
Event	4th IEEE Conference on Automation Science and Engineering, CASE 2008 - Washington, DC, United States Duration: 23 Aug 2008 → 26 Aug 2008

Publication series

Name	4th IEEE Conference on Automation Science and Engineering, CASE 2008

Conference

Conference	4th IEEE Conference on Automation Science and Engineering, CASE 2008
Country/Territory	United States
City	Washington, DC
Period	23/08/08 → 26/08/08

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10.1109/COASE.2008.4626554

Cite this

Roh, S. G., Park, J. H., Song, Y. K., Yang, K. W., Choi, M., Kim, H. S., Lee, H., & Choi, H. R. (2008). Flexible docking mechanism using combination of magnetic force with error-compensation capability. In 4th IEEE Conference on Automation Science and Engineering, CASE 2008 (pp. 697-702). Article 4626554 (4th IEEE Conference on Automation Science and Engineering, CASE 2008). https://doi.org/10.1109/COASE.2008.4626554

@inproceedings{2321c8bb30e94f89b160c73b96d09f8f,

title = "Flexible docking mechanism using combination of magnetic force with error-compensation capability",

abstract = "An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results.",

author = "Roh, \{Se Gon\} and Park, \{Jae Hoon\} and Song, \{Young Kouk\} and Yang, \{Kwang Woong\} and Moosung Choi and Kim, \{Hong Seok\} and Hogil Lee and Choi, \{Hyouk Ryeol\}",

year = "2008",

doi = "10.1109/COASE.2008.4626554",

language = "English",

isbn = "9781424420230",

series = "4th IEEE Conference on Automation Science and Engineering, CASE 2008",

pages = "697--702",

booktitle = "4th IEEE Conference on Automation Science and Engineering, CASE 2008",

note = "4th IEEE Conference on Automation Science and Engineering, CASE 2008 ; Conference date: 23-08-2008 Through 26-08-2008",

}

Roh, SG, Park, JH, Song, YK, Yang, KW, Choi, M, Kim, HS, Lee, H & Choi, HR 2008, Flexible docking mechanism using combination of magnetic force with error-compensation capability. in 4th IEEE Conference on Automation Science and Engineering, CASE 2008., 4626554, 4th IEEE Conference on Automation Science and Engineering, CASE 2008, pp. 697-702, 4th IEEE Conference on Automation Science and Engineering, CASE 2008, Washington, DC, United States, 23/08/08. https://doi.org/10.1109/COASE.2008.4626554

Flexible docking mechanism using combination of magnetic force with error-compensation capability. / Roh, Se Gon; Park, Jae Hoon; Song, Young Kouk et al.
4th IEEE Conference on Automation Science and Engineering, CASE 2008. 2008. p. 697-702 4626554 (4th IEEE Conference on Automation Science and Engineering, CASE 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Flexible docking mechanism using combination of magnetic force with error-compensation capability

AU - Roh, Se Gon

AU - Park, Jae Hoon

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AU - Kim, Hong Seok

AU - Lee, Hogil

AU - Choi, Hyouk Ryeol

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N2 - An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results.

AB - An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results.

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U2 - 10.1109/COASE.2008.4626554

DO - 10.1109/COASE.2008.4626554

M3 - Conference contribution

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SN - 9781424420230

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BT - 4th IEEE Conference on Automation Science and Engineering, CASE 2008

T2 - 4th IEEE Conference on Automation Science and Engineering, CASE 2008

Y2 - 23 August 2008 through 26 August 2008

ER -

Flexible docking mechanism using combination of magnetic force with error-compensation capability

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