biomimetic gyroscope integrated with actuation parts of a

5
Journal of Institute of Control, Robotics and Systems (2016) 22(9):705-709 http://dx.doi.org/10.5302/J.ICROS.2016.16.0098 ISSN:1976-5622 eISSN:2233-4335 ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•œ ์ƒ์ฒด๋ชจ๋ฐฉํ˜• ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ Biomimetic Gyroscope Integrated with Actuation Parts of a Robot Inspired by Insect Halteres ์ • ๋ฏผ ๊ธฐ โ€  , ๊น€ ์ง€ ์ˆ˜ โ€  , ์žฅ ์„œ ํ˜• โ€  , ์ด ํƒœ ์žฌ, ์‹ฌ ํ˜• ๋ณด, ๊ณ  ํ˜• ํ˜ธ, ์กฐ ๊ทœ ์ง„, ์กฐ ๋™ ์ผ * (Mingi Jeong 1,5,โ€  , Jisu Kim 2,5,โ€  , Seohyeong Jang 2,5,โ€  , Tae-Jae Lee 2,5 , Hyungbo Shim 2,5 , Hyoungho Ko 3,5 , Kyu-Jin Cho 4 , and Dong-Il โ€œDanโ€ Cho 1,2,5,* ) Interdisciplinary Program of Bioengineering, Seoul National University, Automation and Systems Research Institute (ASRI) Department of Electrical and Computer Engineering, Seoul National University, ASRI Department of Electronics, Chungnam National University Mechanical and Aerospace Engineering, Seoul National University Biomimetic Robot Research (BMRR) Center, Seoul National University, Seoul, Republic of Korea Abstract: Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated. Keywords: gyroscope, haltere, biomimetic sensor I. ์„œ๋ก  ๋กœ๋ด‡์˜ ๋„ค๋น„๊ฒŒ์ด์…˜, ์ž์„ธ์•ˆ์ •ํ™” ๋“ฑ์„ ์œ„ํ•ด์„œ๋Š” ์œ„์น˜์ถ”์ • ๊ธฐ์ˆ ์ด ํ•„์ˆ˜์ ์ด๋‹ค. ์œ„์น˜์ถ”์ • ๊ธฐ์ˆ ์—๋Š” ๋ฐฉํ–ฅ์„ ์ถ”์ •ํ•˜๋Š” ๊ณผ ์ •์ด ํ•„์ˆ˜์ ์œผ๋กœ ํฌํ•จ๋˜๋ฉฐ, ์ด๋ฅผ ์œ„ํ•ด์„œ ๋Œ€๋ถ€๋ถ„์˜ ๋กœ๋ด‡์€ ๊ฐ ์†๋„ ์„ผ์„œ๋ฅผ ์ด์šฉํ•œ ๊ฐ์†๋„ ์ธก์ • ๊ฒฐ๊ณผ๋ฅผ ๋ฐฉํ–ฅ์ถ”์ •์— ํ™œ์šฉํ•œ ๋‹ค[2-5]. ํšŒ์ „ ๊ฐ์†๋„๋ฅผ ์ธก์ •ํ•˜๊ธฐ ์œ„ํ•œ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ๋‹ค์–‘ํ•œ ํ˜•ํƒœ ๋กœ ๊ฐœ๋ฐœ๋˜์–ด ์™”๊ณ , ํฌ๊ฒŒ ํšŒ์ „์‹, ๊ด‘ํ•™์‹, ์ง„๋™์‹์œผ๋กœ ๋ถ„๋ฅ˜ํ•œ ๋‹ค[6]. ํšŒ์ „์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ๊ณ ์†์œผ๋กœ ํšŒ์ „ํ•˜๋Š” ํšŒ์ „์ฒด๊ฐ€ ํšŒ ์ „์„ ์œ ์ง€ํ•˜๋ ค๋Š” ๊ด€์„ฑ๊ณผ ์„ธ์ฐจ ์šด๋™์˜ ์›๋ฆฌ๋ฅผ ์ด์šฉํ•˜์—ฌ ํšŒ์ „ ์„ ๊ฐ์ง€ํ•˜๋ฉฐ, ๋Œ€ํ‘œ์ ์œผ๋กœ ๋™์กฐ ๊ฐ์†๋„ ์„ผ์„œ๊ฐ€ ์žˆ๋‹ค. ํ•˜์ง€๋งŒ, ๋ถ€ํ”ผ๊ฐ€ ํฌ๊ณ , ๊ธฐ๊ณ„์ ์œผ๋กœ ๋ณต์žกํ•œ ๋‹จ์ ์ด ์žˆ๊ธฐ ๋•Œ๋ฌธ์—, ๋‹ค๋ฅธ ๋ฐฉ์‹์˜ ๊ฐ์†๋„ ์„ผ์„œ๋กœ ๋Œ€์ฒด๋˜๊ณ  ์žˆ๋‹ค. ๊ด‘ํ•™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ์ƒค๋‚™(Sagnac) ํšจ๊ณผ๋ฅผ ์ด์šฉํ•˜์—ฌ ํšŒ์ „ ์„ ๊ฐ์ง€ํ•˜๋Š” ์„ผ์„œ๋กœ, ์›ํ˜•ํƒœ์˜ ๋‹ซํžŒ ๊ฒฝ๋กœ์— ๋‘ ๋น›์„ ์„œ๋กœ ๋ฐ˜ ๋Œ€๋ฐฉํ–ฅ์œผ๋กœ ๋ฐฉ์‚ฌํ•˜์—ฌ ํšŒ์ „์— ๋”ฐ๋ผ ๋ฐœ์ƒํ•˜๋Š” ๋‘ ๋น›์˜ ๊ฒฝ๋กœ์ฐจ ๋ฅผ ๊ฒ€์ถœํ•˜์—ฌ ๊ฐ์†๋„๋ฅผ ๊ณ„์‚ฐํ•œ๋‹ค. ๋Œ€ํ‘œ์ ์ธ ๊ด‘ํ•™์‹ ๊ฐ์†๋„ ์„ผ ์„œ์—๋Š” ๊ด‘์„ฌ์œ  ์„ผ์„œ์™€ ๋ง๋ ˆ์ด์ € ์ž์ด๋กœ ์„ผ์„œ๊ฐ€ ์žˆ๋‹ค. ๋›ฐ์–ด๋‚œ ์„ฑ๋Šฅ์„ ๊ฐ€์ง€๊ณ  ์žˆ์œผ๋‚˜ ๋†’์€ ๊ฐ€๊ฒฉ์œผ๋กœ ์ธํ•ด ์ฃผ๋กœ ๊ตฐ์‚ฌ์ ์ธ ๋ชฉ ์ ์œผ๋กœ ์‚ฌ์šฉ๋˜๊ณ  ์žˆ๋‹ค. ์ตœ๊ทผ์—๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์„ ์ด์šฉํ•˜์—ฌ ํšŒ์ „์„ ๊ฐ์ง€ํ•˜๋Š” ์ง„๋™์‹ ๊ฐ์†๋„ ์„ผ์„œ๊ฐ€ ๋„๋ฆฌ ์‚ฌ์šฉ๋˜๊ณ  ์žˆ์œผ๋ฉฐ[7], ์ผ์ •ํ•œ ์ฃผํŒŒ์ˆ˜๋กœ ๊ณต ์ง„ํ•˜๋Š” ์งˆ๋Ÿ‰์ฒด( m) ๊ฐ€ ์กด์žฌํ•œ๋‹ค. ๊ณต์ง„์œผ๋กœ ์ธํ•ด ๋ฐœ์ƒํ•˜๋Š” ์งˆ๋Ÿ‰ ์ฒด์˜ ์„ ์†๋„( v) ๊ฐ€ ๋กœ๋ด‡์˜ ํšŒ์ „ ์ถ•์— ๋Œ€ํ•œ ๊ฐ์†๋„( ฯ‰) ์™€ ๋‚˜๋ž€ ํ•˜์ง€ ์•Š์œผ๋ฉด ์งˆ๋Ÿ‰์ฒด๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜( F = 2mฯ‰ร—v) ์„ ๋ฐ›๊ฒŒ ๋œ๋‹ค. ์ด๋•Œ, ์„ผ์„œ ํ”„๋ ˆ์ž„์„ ๊ธฐ์ค€์œผ๋กœ ์งˆ๋Ÿ‰์ฒด์˜ ๋ณ€์œ„๊ฐ€ ์ƒ๊ธฐ๊ฒŒ ๋˜๊ณ , ์ด ๋ณ€์œ„๋ฅผ ์ •์ „ ์šฉ๋Ÿ‰ํ˜• ๋˜๋Š” ์ €ํ•ญํ˜• ๋“ฑ์˜ ๋ฐฉ์‹์„ ํ†ตํ•ด ๊ฐ์ง€ ํ•˜์—ฌ ํšŒ์ „ ๊ฐ์†๋„๋ฅผ ์ธก์ •ํ•  ์ˆ˜ ์žˆ๋‹ค. ์ง„๋™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ๋งˆ์ดํฌ๋กœ๋จธ์‹œ๋‹ ๊ธฐ์ˆ  ๊ธฐ๋ฐ˜์œผ๋กœ ์ œ์ž‘๋˜๋ฉฐ, ์„ผ์„œ ์ œ์ž‘์— ๋Œ€ํ•œ ๊ธฐ์ˆ  ์—ฐ๊ตฌ๊ฐ€ ํ™œ๋ฐœํžˆ ์ด๋ค„์ ธ์„œ ๊ณ ์„ฑ๋Šฅ์˜ ๊ฐ์†๋„ ์„ผ์„œ์˜ ์ œ์ž‘ ์— ์‘์šฉ๋˜์–ด ์™”๋‹ค[8-10]. ์ด๋Ÿฌํ•œ ์ง„๋™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ์†Œํ˜• ํ™” ๋ฐ ๋Œ€๋Ÿ‰ ์ƒ์‚ฐ์ด ๊ฐ€๋Šฅํ•˜๊ณ  ๋งค์šฐ ์ €๋ ดํ•˜๋‹ค๋Š” ์žฅ์  ๋•Œ๋ฌธ์— Copyrightยฉ ICROS 2016 * Corresponding Author โ€  ๊ณต๋™ ์ œ 1์ €์ž(Equal contributors) Manuscript received April 19, 2016 / revised June 13, 2016 / accepted July 4, 2016 ์ •๋ฏผ๊ธฐ: ์„œ์šธ๋Œ€ํ•™๊ต ๋ฐ”์ด์˜ค์—”์ง€๋‹ˆ์–ด๋งํ•™๊ณผ([email protected]) ๊น€์ง€์ˆ˜, ์žฅ์„œํ˜•, ์ดํƒœ์žฌ, ์‹ฌํ˜•๋ณด, ์กฐ๋™์ผ: ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ์ •๋ณด๊ณตํ•™๋ถ€ ([email protected]/[email protected]/[email protected]/[email protected]/dicho @snu.ac.kr) ๊ณ ํ˜•ํ˜ธ: ์ถฉ๋‚จ๋Œ€ํ•™๊ต ์ „์ž๊ณตํ•™๊ณผ([email protected]) ์กฐ๊ทœ์ง„: ์„œ์šธ๋Œ€ํ•™๊ต ๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€([email protected]) โ€ป This research was supported by a grant to Bio-Mimetic Robot Research Center Funded by Defense Acquisition Program Administration, and by Agency for Defense Development (UD130070ID). โ€ป ๋ณธ ์—ฐ๊ตฌ๋Š” 2016๋…„ ์ œ31ํšŒ ICROS ํ•™์ˆ ๋Œ€ํšŒ์— ์ดˆ์•ˆ์ด ๋ฐœํ‘œ๋˜์—ˆ์Œ [1].

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Journal of Institute of Control, Robotics and Systems (2016) 22(9):705-709

http://dx.doi.org/10.5302/J.ICROS.2016.16.0098 ISSN:1976-5622 eISSN:2233-4335

ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•œ ์ƒ์ฒด๋ชจ๋ฐฉํ˜• ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ

Biomimetic Gyroscope Integrated with Actuation Parts of a Robot

Inspired by Insect Halteres

์ • ๋ฏผ ๊ธฐโ€ , ๊น€ ์ง€ ์ˆ˜

โ€ , ์žฅ ์„œ ํ˜•

โ€ , ์ด ํƒœ ์žฌ, ์‹ฌ ํ˜• ๋ณด, ๊ณ  ํ˜• ํ˜ธ, ์กฐ ๊ทœ ์ง„, ์กฐ ๋™ ์ผ

*

(Mingi Jeong1,5,โ€ , Jisu Kim2,5,โ€ , Seohyeong Jang2,5,โ€ , Tae-Jae Lee2,5, Hyungbo Shim2,5, Hyoungho Ko3,5, Kyu-Jin Cho4, and Dong-Il โ€œDanโ€ Cho1,2,5,*)

1Interdisciplinary Program of Bioengineering, Seoul National University, Automation and Systems Research Institute (ASRI) 2Department of Electrical and Computer Engineering, Seoul National University, ASRI

3Department of Electronics, Chungnam National University 4Mechanical and Aerospace Engineering, Seoul National University

5Biomimetic Robot Research (BMRR) Center, Seoul National University, Seoul, Republic of Korea

Abstract: Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated. Keywords: gyroscope, haltere, biomimetic sensor

I. ์„œ๋ก 

๋กœ๋ด‡์˜ ๋„ค๋น„๊ฒŒ์ด์…˜, ์ž์„ธ์•ˆ์ •ํ™” ๋“ฑ์„ ์œ„ํ•ด์„œ๋Š” ์œ„์น˜์ถ”์ •

๊ธฐ์ˆ ์ด ํ•„์ˆ˜์ ์ด๋‹ค. ์œ„์น˜์ถ”์ • ๊ธฐ์ˆ ์—๋Š” ๋ฐฉํ–ฅ์„ ์ถ”์ •ํ•˜๋Š” ๊ณผ

์ •์ด ํ•„์ˆ˜์ ์œผ๋กœ ํฌํ•จ๋˜๋ฉฐ, ์ด๋ฅผ ์œ„ํ•ด์„œ ๋Œ€๋ถ€๋ถ„์˜ ๋กœ๋ด‡์€ ๊ฐ

์†๋„ ์„ผ์„œ๋ฅผ ์ด์šฉํ•œ ๊ฐ์†๋„ ์ธก์ • ๊ฒฐ๊ณผ๋ฅผ ๋ฐฉํ–ฅ์ถ”์ •์— ํ™œ์šฉํ•œ

๋‹ค[2-5].

ํšŒ์ „ ๊ฐ์†๋„๋ฅผ ์ธก์ •ํ•˜๊ธฐ ์œ„ํ•œ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ๋‹ค์–‘ํ•œ ํ˜•ํƒœ

๋กœ ๊ฐœ๋ฐœ๋˜์–ด ์™”๊ณ , ํฌ๊ฒŒ ํšŒ์ „์‹, ๊ด‘ํ•™์‹, ์ง„๋™์‹์œผ๋กœ ๋ถ„๋ฅ˜ํ•œ

๋‹ค[6]. ํšŒ์ „์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ๊ณ ์†์œผ๋กœ ํšŒ์ „ํ•˜๋Š” ํšŒ์ „์ฒด๊ฐ€ ํšŒ

์ „์„ ์œ ์ง€ํ•˜๋ ค๋Š” ๊ด€์„ฑ๊ณผ ์„ธ์ฐจ ์šด๋™์˜ ์›๋ฆฌ๋ฅผ ์ด์šฉํ•˜์—ฌ ํšŒ์ „

์„ ๊ฐ์ง€ํ•˜๋ฉฐ, ๋Œ€ํ‘œ์ ์œผ๋กœ ๋™์กฐ ๊ฐ์†๋„ ์„ผ์„œ๊ฐ€ ์žˆ๋‹ค. ํ•˜์ง€๋งŒ,

๋ถ€ํ”ผ๊ฐ€ ํฌ๊ณ , ๊ธฐ๊ณ„์ ์œผ๋กœ ๋ณต์žกํ•œ ๋‹จ์ ์ด ์žˆ๊ธฐ ๋•Œ๋ฌธ์—, ๋‹ค๋ฅธ

๋ฐฉ์‹์˜ ๊ฐ์†๋„ ์„ผ์„œ๋กœ ๋Œ€์ฒด๋˜๊ณ  ์žˆ๋‹ค.

๊ด‘ํ•™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ์ƒค๋‚™(Sagnac) ํšจ๊ณผ๋ฅผ ์ด์šฉํ•˜์—ฌ ํšŒ์ „

์„ ๊ฐ์ง€ํ•˜๋Š” ์„ผ์„œ๋กœ, ์›ํ˜•ํƒœ์˜ ๋‹ซํžŒ ๊ฒฝ๋กœ์— ๋‘ ๋น›์„ ์„œ๋กœ ๋ฐ˜

๋Œ€๋ฐฉํ–ฅ์œผ๋กœ ๋ฐฉ์‚ฌํ•˜์—ฌ ํšŒ์ „์— ๋”ฐ๋ผ ๋ฐœ์ƒํ•˜๋Š” ๋‘ ๋น›์˜ ๊ฒฝ๋กœ์ฐจ

๋ฅผ ๊ฒ€์ถœํ•˜์—ฌ ๊ฐ์†๋„๋ฅผ ๊ณ„์‚ฐํ•œ๋‹ค. ๋Œ€ํ‘œ์ ์ธ ๊ด‘ํ•™์‹ ๊ฐ์†๋„ ์„ผ

์„œ์—๋Š” ๊ด‘์„ฌ์œ  ์„ผ์„œ์™€ ๋ง๋ ˆ์ด์ € ์ž์ด๋กœ ์„ผ์„œ๊ฐ€ ์žˆ๋‹ค. ๋›ฐ์–ด๋‚œ

์„ฑ๋Šฅ์„ ๊ฐ€์ง€๊ณ  ์žˆ์œผ๋‚˜ ๋†’์€ ๊ฐ€๊ฒฉ์œผ๋กœ ์ธํ•ด ์ฃผ๋กœ ๊ตฐ์‚ฌ์ ์ธ ๋ชฉ

์ ์œผ๋กœ ์‚ฌ์šฉ๋˜๊ณ  ์žˆ๋‹ค.

์ตœ๊ทผ์—๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์„ ์ด์šฉํ•˜์—ฌ ํšŒ์ „์„ ๊ฐ์ง€ํ•˜๋Š” ์ง„๋™์‹

๊ฐ์†๋„ ์„ผ์„œ๊ฐ€ ๋„๋ฆฌ ์‚ฌ์šฉ๋˜๊ณ  ์žˆ์œผ๋ฉฐ[7], ์ผ์ •ํ•œ ์ฃผํŒŒ์ˆ˜๋กœ ๊ณต

์ง„ํ•˜๋Š” ์งˆ๋Ÿ‰์ฒด(m)๊ฐ€ ์กด์žฌํ•œ๋‹ค. ๊ณต์ง„์œผ๋กœ ์ธํ•ด ๋ฐœ์ƒํ•˜๋Š” ์งˆ๋Ÿ‰

์ฒด์˜ ์„ ์†๋„(v)๊ฐ€ ๋กœ๋ด‡์˜ ํšŒ์ „ ์ถ•์— ๋Œ€ํ•œ ๊ฐ์†๋„(ฯ‰)์™€ ๋‚˜๋ž€

ํ•˜์ง€ ์•Š์œผ๋ฉด ์งˆ๋Ÿ‰์ฒด๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜(F = 2mฯ‰ร—v)์„ ๋ฐ›๊ฒŒ ๋œ๋‹ค.

์ด๋•Œ, ์„ผ์„œ ํ”„๋ ˆ์ž„์„ ๊ธฐ์ค€์œผ๋กœ ์งˆ๋Ÿ‰์ฒด์˜ ๋ณ€์œ„๊ฐ€ ์ƒ๊ธฐ๊ฒŒ ๋˜๊ณ ,

์ด ๋ณ€์œ„๋ฅผ ์ •์ „ ์šฉ๋Ÿ‰ํ˜• ๋˜๋Š” ์ €ํ•ญํ˜• ๋“ฑ์˜ ๋ฐฉ์‹์„ ํ†ตํ•ด ๊ฐ์ง€

ํ•˜์—ฌ ํšŒ์ „ ๊ฐ์†๋„๋ฅผ ์ธก์ •ํ•  ์ˆ˜ ์žˆ๋‹ค. ์ง„๋™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š”

๋งˆ์ดํฌ๋กœ๋จธ์‹œ๋‹ ๊ธฐ์ˆ  ๊ธฐ๋ฐ˜์œผ๋กœ ์ œ์ž‘๋˜๋ฉฐ, ์„ผ์„œ ์ œ์ž‘์— ๋Œ€ํ•œ

๊ธฐ์ˆ  ์—ฐ๊ตฌ๊ฐ€ ํ™œ๋ฐœํžˆ ์ด๋ค„์ ธ์„œ ๊ณ ์„ฑ๋Šฅ์˜ ๊ฐ์†๋„ ์„ผ์„œ์˜ ์ œ์ž‘

์— ์‘์šฉ๋˜์–ด ์™”๋‹ค[8-10]. ์ด๋Ÿฌํ•œ ์ง„๋™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ์†Œํ˜•

ํ™” ๋ฐ ๋Œ€๋Ÿ‰ ์ƒ์‚ฐ์ด ๊ฐ€๋Šฅํ•˜๊ณ  ๋งค์šฐ ์ €๋ ดํ•˜๋‹ค๋Š” ์žฅ์  ๋•Œ๋ฌธ์—

Copyrightยฉ ICROS 2016

* Corresponding Author

โ€  ๊ณต๋™ ์ œ 1์ €์ž(Equal contributors)

Manuscript received April 19, 2016 / revised June 13, 2016 / accepted July 4, 2016

์ •๋ฏผ๊ธฐ: ์„œ์šธ๋Œ€ํ•™๊ต ๋ฐ”์ด์˜ค์—”์ง€๋‹ˆ์–ด๋งํ•™๊ณผ([email protected])

๊น€์ง€์ˆ˜, ์žฅ์„œํ˜•, ์ดํƒœ์žฌ, ์‹ฌํ˜•๋ณด, ์กฐ๋™์ผ: ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ์ •๋ณด๊ณตํ•™๋ถ€

([email protected]/[email protected]/[email protected]/[email protected]/[email protected])

๊ณ ํ˜•ํ˜ธ: ์ถฉ๋‚จ๋Œ€ํ•™๊ต ์ „์ž๊ณตํ•™๊ณผ([email protected])

์กฐ๊ทœ์ง„: ์„œ์šธ๋Œ€ํ•™๊ต ๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€([email protected])

โ€ป This research was supported by a grant to Bio-Mimetic Robot Research

Center Funded by Defense Acquisition Program Administration, and by Agency for Defense Development (UD130070ID).

โ€ป ๋ณธ ์—ฐ๊ตฌ๋Š” 2016๋…„ ์ œ31ํšŒ ICROS ํ•™์ˆ ๋Œ€ํšŒ์— ์ดˆ์•ˆ์ด ๋ฐœํ‘œ๋˜์—ˆ์Œ

[1].

์ • ๋ฏผ ๊ธฐ, ๊น€ ์ง€ ์ˆ˜, ์žฅ ์„œ ํ˜•, ์ด ํƒœ ์žฌ, ์‹ฌ ํ˜• ๋ณด, ๊ณ  ํ˜• ํ˜ธ, ์กฐ ๊ทœ ์ง„, ์กฐ ๋™ ์ผ

706

๋กœ๋ด‡, ์ œ์–ด, ์ž๋™์ฐจ ๋“ฑ ์‚ฐ์—… ์ „ ์˜์—ญ์— ๊ฑธ์ณ ๋„๋ฆฌ ์‚ฌ์šฉ๋˜๊ณ 

์žˆ๋‹ค[11-13].

ํ•˜์ง€๋งŒ ์ด๋Ÿฌํ•œ ์ง„๋™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ๋กœ๋ด‡์ด ์ •์ง€ํ•˜๊ฑฐ๋‚˜ ๋Œ€

๊ธฐ ์ƒํƒœ์— ์žˆ๋Š” ๊ฒฝ์šฐ์—๋„ ์„ผ์„œ ๋‚ด๋ถ€์˜ ์งˆ๋Ÿ‰์ฒด๋ฅผ ์ง€์†์ ์œผ๋กœ

๊ณต์ง„์‹œํ‚ค๋ฉฐ, ๋ถˆํ•„์š”ํ•œ ์ „๋ ฅ์„ ์†Œ๋ชจํ•œ๋‹ค. ๋˜ํ•œ, ์ง„๋™์‹ ๊ฐ์†๋„

์„ผ์„œ๋Š” ๊ณ ์ •๋œ ์ฃผํŒŒ์ˆ˜๋กœ ์„ผ์„œ๋ฅผ ๊ณต์ง„์‹œํ‚ค๊ธฐ ๋•Œ๋ฌธ์—, ๋™์ผํ•œ ์ฃผ

ํŒŒ์ˆ˜์˜ ์™ธ๋ถ€ ์ง„๋™์ด ์ž…๋ ฅ๋  ๊ฒฝ์šฐ ๊ณผ๋„ํ•œ ์ฆํญํ˜„์ƒ์œผ๋กœ ์„ผ์„œ์˜

๋™์ž‘์ด ์ค‘๋‹จ๋  ์ˆ˜ ์žˆ๋‹ค. ์ตœ๊ทผ์—๋Š” ์ด๋ฅผ ์ด์šฉํ•˜์—ฌ, ์ŒํŒŒ๋ฅผ ํ†ตํ•œ

๊ฐ์†๋„ ์„ผ์„œ ๋ฌด๋ ฅํ™”์— ๋Œ€ํ•œ ์—ฐ๊ตฌ๋„ ๋ฐœํ‘œ๋˜์—ˆ๋‹ค[14].

๋ณธ ๋…ผ๋ฌธ์€ ํ‰ํ˜•๊ณค์„ ๋ชจ๋ฐฉํ•˜์—ฌ ๊ณต์ง„์„ ์œ„ํ•œ ์„ผ์„œ ์ž์ฒด์˜

๊ตฌ๋™๋ถ€๊ฐ€ ์—†๋Š” ๊ฐ์†๋„ ์„ผ์„œ๋ฅผ ์ œ์•ˆํ•œ๋‹ค. ์ œ์•ˆํ•œ ์„ผ์„œ๋Š” ํ‰ํ˜•

๊ณค์ด ๋‚ ๊ฐœ์™€ ๊ธฐ๊ณ„์ ์œผ๋กœ ์—ฐ๊ฒฐ๋˜์–ด ๋‚ ๊ฐœ์™€ ํ•จ๊ป˜ ๊ตฌ๋™๋˜๊ธฐ ๋•Œ

๋ฌธ์— ๋ณ„๋„์˜ ๊ทผ์œก์ด ์š”๊ตฌ๋˜์ง€ ์•Š๋Š”๋‹ค๋Š” ๊ตฌ์กฐ์  ๋ฉ”์ปค๋‹ˆ์ฆ˜์„

๋ชจ๋ฐฉํ•œ๋‹ค. ์ œ์•ˆํ•œ ์„ผ์„œ๋Š” ๋กœ๋ด‡์˜ ๊ตฌ๋™๋ถ€๊ฐ€ ๊ตฌ์กฐ์ ์œผ๋กœ ์—ฐ๊ฒฐ

๋˜์–ด ๋กœ๋ด‡ ๊ตฌ๋™๋ถ€์˜ ๋™๋ ฅ์„ ์ „๋‹ฌ ๋ฐ›์•„ ์ง„๋™ํ•œ๋‹ค. ๋”ฐ๋ผ์„œ ์„ผ

์„œ ๋‚ด์— ๋ณ„๋„์˜ ๊ตฌ๋™๋ถ€ ์—†์ด ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์„ ์ธก์ •ํ•˜๊ธฐ ์œ„ํ•œ ์„ 

์†๋„๋ฅผ ์–ป์„ ์ˆ˜ ์žˆ๋‹ค. ๋˜ํ•œ, ์ง„๋™์‹ ๊ฐ์†๋„ ์„ผ์„œ๋Š” ๋‚ด๋ถ€์˜ ์งˆ

๋Ÿ‰์ฒด๊ฐ€ ์ •ํ•ด์ง„ ์ฃผํŒŒ์ˆ˜๋กœ ๊ณต์ง„ํ•˜๊ธฐ ๋•Œ๋ฌธ์— ๋™์ผํ•œ ์ฃผํŒŒ์ˆ˜์˜

์™ธ๋ถ€ ์ŒํŒŒ์— ๋ฏผ๊ฐํ•œ ๋ฐ˜๋ฉด์—, ์ œ์•ˆํ•œ ๋ฐฉ์‹์˜ ๊ฐ์†๋„ ์„ผ์„œ๋Š”

์ •ํ•ด์ง„ ์ฃผํŒŒ์ˆ˜๊ฐ€ ์•„๋‹Œ ๋กœ๋ด‡ ๊ตฌ๋™๋ถ€์— ๋”ฐ๋ผ์„œ ์œ ๋™์ ์œผ๋กœ ์ง„

๋™ํ•˜๊ธฐ ๋•Œ๋ฌธ์— ์™ธ๋ถ€ ์ŒํŒŒ์— ๊ฐ•์ธํ•  ์ˆ˜ ์žˆ๋‹ค. ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌ

ํ•œ ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ์˜ ํ”„๋กœํ† ํƒ€์ž…์„ ์ œ์ž‘ํ•˜๊ณ , ์‹ค

ํ—˜์„ ํ†ตํ•ด feasibility๋ฅผ ํ™•์ธํ•˜์˜€๋‹ค.

II. ํ‰ํ˜•๊ณค์˜ ์ƒ๋ฌผํ•™์  ํŠน์„ฑ ๋ฐ ๊ฐ์†๋„ ๊ฐ์ง€ ์›๋ฆฌ

ํŒŒ๋ฆฌ๋ฅ˜ ๊ณค์ถฉ์—์„œ ๋ฐœ๊ฒฌ๋˜๋Š” ํ‰ํ˜•๊ณค์€ ๊ฐ์†๋„๋ฅผ ๊ฐ์ง€ํ•˜๋Š”

๊ธฐ๊ด€์œผ๋กœ ๊ทธ๋ฆผ 1๊ณผ ๊ฐ™์ด ๊ณค์ถฉ ๊ฐ€์Šด์˜ ๋‚ ๊ฐœ ๋’ค์ชฝ์— ์œ„์น˜ํ•˜๋ฉฐ,

์–‡์€ ๋ง‰๋Œ€์˜ ๋๋ถ€๋ถ„์— ๊ณต ๋ชจ์–‘์˜ ์งˆ๋Ÿ‰์ฒด๊ฐ€ ๋‹ฌ๋ ค ์žˆ๋Š” ๊ณค๋ด‰

ํ˜•ํƒœ์˜ ๊ตฌ์กฐ์ด๋‹ค. ํ‰ํ˜•๊ณค์ด ๋ถ€์ฐฉ๋œ ๊ฐ€์Šด ๋ถ€๊ทผ์—๋Š” ์•ฝ 400 ๊ฐœ

์˜ ์ŠคํŠธ๋ ˆ์ธ ๊ฒŒ์ด์ง€ ๊ธฐ๋Šฅ์„ ํ•˜๋Š” ๊ฐ๊ฐ๊ธฐ๊ฐ€ ์žˆ์–ด, ํ‰ํ˜•๊ณค์—

์ž‘์šฉํ•˜๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์„ ๊ฐ์ง€ํ•œ๋‹ค[15,16].

๊ทธ๋ฆผ 2์™€ ๊ฐ™์ด ํ‰ํ˜•๊ณค์€ ๋‚ ๊ฐœ์™€ sub-epimera ridge ๊ธฐ๊ด€์„

ํ†ตํ•ด ๊ตฌ์กฐ์ ์œผ๋กœ ์—ฐ๊ฒฐ๋˜์–ด ์žˆ์–ด์„œ ๋ณ„๋„์˜ ๊ทผ์œก์„ ์‚ฌ์šฉํ•˜์ง€

์•Š๊ณ  ๋‚ ๊ฐฏ์ง“์— ์‚ฌ์šฉ๋˜๋Š” ๊ทผ์œก์—์„œ ๋™๋ ฅ์„ ์–ป์–ด ์ง„๋™ํ•œ๋‹ค[17].

๋”ฐ๋ผ์„œ ํ‰ํ˜•๊ณค์€ ๋‚ ๊ฐœ์™€ ์ˆ˜์งํ•œ ํ‰๋ฉด์œผ๋กœ 180ยฐ ์œ„์ƒ์ฐจ๋ฅผ ๊ฐ€

์ง€๋ฉฐ, ๋™์ผ ์ฃผํŒŒ์ˆ˜๋กœ ์ง„๋™ํ•œ๋‹ค. ์ด๋Ÿฌํ•œ ์ง„๋™์€ ํšŒ์ „์— ๋”ฐ๋ฅธ

์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์˜ ๋ฐœ์ƒ์„ ์œ„ํ•œ ์„ ์†๋„๋กœ ์ž‘์šฉํ•œ๋‹ค[17,18].

๊ณค์ถฉ์ด ๋ณ‘์ง„ ์šด๋™ ์—†์ด ํšŒ์ „ ์šด๋™์„ ํ•œ๋‹ค๊ณ  ๊ฐ€์ •ํ•˜๋ฉด, ํ‰

ํ˜•๊ณค์— ์ž‘์šฉํ•˜๋Š” ํž˜์€ ๋‹ค์Œ๊ณผ ๊ฐ™๋‹ค[16]:

2 ( )m m m m m= โˆ’ ร— โˆ’ ร— ร— โˆ’ ร— โˆ’F g ฯ‰ v ฯ‰ ฯ‰ r ฯ‰ r a๏ฟฝ (1)

๊ทธ๋ฆผ 2. ํŒŒ๋ฆฌ๋ฅ˜ ๊ณค์ถฉ์˜ ๊ฐ€์Šด ๋ถ€์œ„ ๊ตฌ์กฐ[17]. Fig. 2. Schematic of diptera insect thorax [17].

์ž‘์šฉํ•˜๋Š” ํž˜์— ๋Œ€ํ•œ ์‹์—์„œ ์šฐ๋ณ€์˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋“ค์„ ๋ณด๋ฉด, ํ‰

ํ˜•๊ณค์— ์ž‘์šฉํ•˜๋Š” ํž˜์€ ์ค‘๋ ฅ ,mg ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜ 2 ,m ร—ฯ‰ v ํ‰

ํ˜•๊ณค์— ์ž‘์šฉํ•˜๋Š” ์›์‹ฌ๋ ฅ ( ),m ร— ร—ฯ‰ ฯ‰ r ๊ฐ๊ฐ€์†๋„ํž˜ (angular

acceleration force) ,m ร—ฯ‰ r๏ฟฝ ๊ด€์„ฑ๋ ฅ ma ์— ๋Œ€ํ•˜์—ฌ ๋‚˜ํƒ€๋‚ธ๋‹ค.

์ค‘๋ ฅ์€ ๊ณค์ถฉ์˜ ์ž์„ธ์— ๋”ฐ๋ผ 3์ถ•์— ์ž‘์šฉํ•˜๋Š” ํž˜์˜ ํฌ๊ธฐ๊ฐ€ ๋ณ€

ํ•˜์ง€๋งŒ, ์ง๋ฅ˜ ์„ฑ๋ถ„์œผ๋กœ ๊ฐ„์ฃผํ•˜์—ฌ ์‰ฝ๊ฒŒ ์ œ๊ฑฐ ๋œ๋‹ค. ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜

์€ ๋ชธ์ฒด์˜ ๊ฐ์†๋„์™€ ํ‰ํ˜•๊ณค์˜ ์†๋„์— ๋น„๋ก€ํ•˜๋Š” ํž˜์œผ๋กœ ์ž‘์šฉ

ํ•˜๋ฉฐ, 3์ถ•์— ๋ชจ๋‘ ์ž‘์šฉํ•˜์—ฌ ํšŒ์ „์— ๋Œ€ํ•œ ๋ฐฉํ–ฅ ๋ฐ ํฌ๊ธฐ ์ •๋ณด๋ฅผ

๋ชจ๋‘ ํฌํ•จํ•˜๊ณ  ์žˆ๋‹ค. ์›์‹ฌ๋ ฅ์€ ํ‰ํ˜•๊ณค์˜ ์œ„์น˜์™€ ๋ชธ์ฒด์˜ ๊ฐ์†

๋„ ์ œ๊ณฑ์— ๋น„๋ก€ํ•˜๋Š” ํž˜์œผ๋กœ ํšŒ์ „์— ๋Œ€ํ•œ ๋ฐฉํ–ฅ ์ •๋ณด๋ฅผ ์ถ”์ •ํ•˜

๊ธฐ ์–ด๋ ต๋‹ค. ์›์‹ฌ๋ ฅ์€ ์ฃผ๋กœ ๊ณค์ถฉ์˜ ๋ฐฉ์‚ฌ (radial) ๋ฐฉํ–ฅ๊ณผ ์ ‘์„ 

(tangential) ๋ฐฉํ–ฅ์œผ๋กœ ์ž‘์šฉํ•˜๊ณ , ์ธก๋ฉด (lateral) ๋ฐฉํ–ฅ์œผ๋กœ๋Š” ํž˜์ด

์ ๊ฒŒ ์ž‘์šฉํ•˜์—ฌ ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์— ๋น„ํ•ด ์ž‘๋‹ค. ๊ฐ๊ฐ€์†๋„ํž˜์€ ์ฝ”๋ฆฌ

์˜ฌ๋ฆฌํž˜๊ณผ ์œ ์‚ฌํ•˜๋‚˜, ์œ„์ƒ์ด ๊ฐ์†๋„์—์„œ 90ยฐ ๋งŒํผ shift ๋˜๊ธฐ

๋•Œ๋ฌธ์— ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜๊ณผ ๋ถ„๋ฆฌ๊ฐ€ ๊ฐ€๋Šฅํ•˜๋‹ค. ๊ด€์„ฑ๋ ฅ์€ ๊ณค์ถฉ ๋ชธ์ฒด

์— ๋Œ€ํ•œ ํ‰ํ˜•๊ณค์˜ ์ƒ๋Œ€์  ๊ฐ€์†๋„์— ์˜ํ•ด ๋ฐœ์ƒํ•˜๋Š” ํž˜์œผ๋กœ,

์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜ ๋ณด๋‹ค ํฌ์ง€๋งŒ ์ฃผ๋กœ ๋ฐฉ์‚ฌ ๋ฐฉํ–ฅ๊ณผ ์ ‘์„  ๋ฐฉํ–ฅ์œผ๋กœ๋งŒ

์ž‘์šฉํ•˜๊ณ , ์ธก๋ฉด ๋ฐฉํ–ฅ์œผ๋กœ๋Š” ์ž‘์šฉํ•˜์ง€ ์•Š๋Š”๋‹ค. ์ธก๋ฉด ๋ฐฉํ–ฅ์—์„œ

ํšŒ์ „์šด๋™์— ๋Œ€ํ•ด ์ž‘์šฉํ•˜๋Š” ํž˜์€ ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์ด ๋‹ค๋ฅธ ํž˜๋“ค๊ณผ

๋น„๊ตํ•˜์—ฌ ์ถฉ๋ถ„ํžˆ ํฌ๊ธฐ ๋•Œ๋ฌธ์—, ์•„๋ž˜ ์‹๊ณผ ๊ฐ™์ด ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์—

๋Œ€ํ•œ ์‹์œผ๋กœ ๋‚˜ํƒ€๋‚ผ ์ˆ˜ ์žˆ๋‹ค:

2lateralf m vฯ‰โ‰ˆ (2)

๋”ฐ๋ผ์„œ ํ‰ํ˜•๊ณค์˜ ์ธก๋ฉด ๋ฐฉํ–ฅ์—์„œ ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์„ ์ธก์ •ํ•˜์—ฌ

๊ณค์ถฉ์ด ํšŒ์ „ ์šด๋™์„ ํ•  ๋•Œ ํ‰ํ˜•๊ณค์˜ ์ธก๋ฉด ๋ฐฉํ–ฅ์œผ๋กœ ์ž‘์šฉํ•˜๋Š”

์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์œผ๋กœ ๋ชธํ†ต์˜ ์š”(yaw), ํ”ผ์น˜(pitch), ๋กค(roll) ์ถ•์˜ ๊ฐ

์†๋„๋ฅผ ๊ฐ์ง€ํ•œ๋‹ค.

III. ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•œ ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ

1. ์ œ์•ˆํ•œ ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ ๊ตฌ์กฐ

์œ„์™€ ๊ฐ™์€ ํ‰ํ˜•๊ณค์˜ ๊ตฌ์กฐ์  ํŠน์„ฑ์— ์ฐฉ์•ˆํ•˜์—ฌ ๊ตฌ๋™๋ถ€ ์ผ์ฒด

ํ˜• ๋ฌด๋™๋ ฅ ๊ฐ์†๋„ ์„ผ์„œ ์•„์ด๋””์–ด๋ฅผ ๋„์ถœํ•˜์˜€๋‹ค. ์ผ๋ฐ˜์ ์œผ๋กœ

๋กœ๋ด‡์€ ์ด๋™์„ ์œ„ํ•œ ์•ก์ถ”์—์ดํ„ฐ์™€ ๋™๋ ฅ ์ „๋‹ฌ ์žฅ์น˜๋กœ ๊ตฌ์„ฑ๋œ

๊ตฌ๋™๋ถ€๊ฐ€ ์กด์žฌํ•˜๋Š”๋ฐ, ์ œ์•ˆํ•˜๋Š” ๊ฐ์†๋„ ์„ผ์„œ๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜

๋ฐœ์ƒ์„ ์œ„ํ•œ ์„ ์†๋„๋ฅผ ํš๋“ํ•˜๊ธฐ ์œ„ํ•ด, ๋กœ๋ด‡์˜ ๊ตฌ๋™๋ถ€๋กœ๋ถ€ํ„ฐ

๋™๋ ฅ์„ ์–ป์–ด์™€ ์„ผ์„œ๋ฅผ ์ง„๋™์‹œํ‚ค๋Š” ๋ฐฉ์‹์ด๋‹ค.

๊ทธ๋ฆผ 3์€ ๋กœ๋ด‡์˜ ๊ตฌ๋™๋ ฅ์„ ์ด์šฉํ•œ ๊ฐ์†๋„ ๊ฐ์ง€ ์„ผ์„œ์˜ ํ”„

๋กœํ† ํƒ€์ž…์ด๋‹ค. ํ”„๋กœํ† ํƒ€์ž…์€ ๊ฐ์†๋„ ์ธก์ •๋ถ€์™€ ๋กœ๋ด‡์˜ ๊ตฌ๋™๋ ฅ

์ „๋‹ฌ์žฅ์น˜๋กœ ๊ตฌ์„ฑ๋œ๋‹ค. ๊ฐ์†๋„ ์ธก์ • ๋ถ€๋Š” ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•œ

๊ทธ๋ฆผ 1. ์ดˆํŒŒ๋ฆฌ์˜ ํ‰ํ˜•๊ณค์˜ ์ „์žํ˜„๋ฏธ๊ฒฝ ์‚ฌ์ง„ ๋ชจ์‹๋„[15].

Fig. 1. Electron micrograph of the halters [15].

Mingi Jeong, Jisu Kim, Seohyeong Jang, Tae-Jae Lee, Hyungbo Shim, Hyoungho Ko, Kyu-Jin Cho, and Dong-Il โ€œDanโ€ Cho

ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•œ ์ƒ์ฒด๋ชจ๋ฐฉํ˜• ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ

707

๊ตฌ์กฐ๋ฌผ๊ณผ ์‹ ํ˜ธ์ฒ˜๋ฆฌ๋ฅผ ์ˆ˜ํ–‰ํ•˜๋Š” ๋ถ€๋ถ„์œผ๋กœ ๋‚˜๋‰œ๋‹ค. ํ‰ํ˜•๊ณค์„

๋ชจ์‚ฌํ•œ ๊ตฌ์กฐ๋ฌผ์€ ๊ทธ๋ฆผ 3(a)์™€ ๊ฐ™์ด ๊ฐ€๋กœ 0.5 cm, ์„ธ๋กœ 4 cm ํฌ

๊ธฐ์˜ ์ข…ํšก๋น„๊ฐ€ ํฐ ์ง์‚ฌ๊ฐํ˜• ๋ชจ์–‘์ด๋ฉฐ, ๊ธด ๋ง‰๋Œ€ ๋ ๋ถ€๋ถ„์— ์ฝ”

๋ฆฌ์˜ฌ๋ฆฌํž˜์„ ๊ฐ์ง€ํ•  ์ˆ˜ ์žˆ๋Š” ์ •์ „ ์šฉ๋Ÿ‰ํ˜• ๊ฐ€์†๋„ ์„ผ์„œ

(Analog Device Inc., ADXL345) ๊ฐ€ ๋ถ€์ฐฉ๋˜์–ด ์žˆ๋‹ค. ์‹ ํ˜ธ์ฒ˜๋ฆฌ ํŒŒ

ํŠธ๋Š” ๊ฐ€์†๋„ ์„ผ์„œ๋ฅผ ํ†ตํ•ด ์–ป์–ด์ง„ ์‹ ํ˜ธ๋กœ๋ถ€ํ„ฐ ์žก์Œ, ์›์‹ฌ๋ ฅ

๋“ฑ์˜ ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜ ์™ธ ์„ฑ๋ถ„๋“ค์„ ์ œ๊ฑฐํ•˜์—ฌ ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜๋งŒ์„ ๊ฐ

์ง€ํ•ด ๊ฐ์†๋„๋ฅผ ์ธก์ •ํ•œ๋‹ค. ๊ทธ๋ฆผ 3(b)์€ ๋กœ๋ด‡์˜ ๊ตฌ๋™๋ถ€์ด๋ฉฐ, ๋กœ

๋ด‡์˜ ์—‘์ธ„์—์ดํ„ฐ๋กœ๋ถ€ํ„ฐ ๋ฐœ์ƒํ•˜๋Š” ๊ตฌ๋™ ๋™๋ ฅ์„ ๊ตฌ๋™ ์ „๋‹ฌ์žฅ

์น˜๋ฅผ ํ†ตํ•ด ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜ ์ธก์ •์„ ์œ„ํ•œ ์„ ์†๋„๋ฅผ ์žฅ์น˜์ด๋ฉฐ, ํฌ๊ธฐ

๋Š” ๊ฐ€๋กœ 7 cm, ์„ธ๋กœ 2.5 cm, ๋†’์ด 4.5 cm ๋กœ ์ œ์ž‘ํ•˜์˜€๋‹ค.

2. ๊ฐ€์†๋„ ์ธก์ •์„ ์œ„ํ•œ ์‹ ํ˜ธ์ฒ˜๋ฆฌ ๊ณผ์ •

์‹ ํ˜ธ์ฒ˜๋ฆฌ ๊ณผ์ •์—์„œ๋Š” ๊ฐ€์†๋„ ์‹ ํ˜ธ์— ์กด์žฌํ•˜๋Š” ์„ ๊ฐ€์†๋ ฅ๊ณผ

๊ฐ™์€ ๋ฌผ๋ฆฌ์  ์˜ํ–ฅ๊ณผ ๊ฐ€์†๋„ ์„ฑ๋ถ„์— ์กด์žฌํ•˜๋Š” ๊ณ ์ฃผํŒŒ ์„ฑ๋ถ„,

๊ทธ๋ฆฌ๊ณ  ๋กœ๋ด‡์˜ ์ž์ฒด์  ์ง„๋™์ด๋‚˜ ์ธก์ •์˜ ํ•œ๊ณ„์—์„œ ์ƒ๊ธฐ๋Š” ์žก

์Œ ๋“ฑ์„ ์ œ๊ฑฐํ•œ๋‹ค. ์•ž์„œ ์–ธ๊ธ‰๋œ ํ‰ํ˜•๊ณค ๋ชจ๋ธ์„ ์ ์šฉํ•˜๋ฉด, ์ธก

๋ฉด ๋ฐฉํ–ฅ์—์„œ ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์— ์˜ํ•œ ๊ฐ€์†๋„๊ฐ€ ๋‹ค๋ฅธ ํž˜๋“ค์„ ๋ฌด์‹œ

ํ•  ์ •๋„๋กœ ์ถฉ๋ถ„ํžˆ ํฌ๊ธฐ ๋•Œ๋ฌธ์—, ์ธก๋ฉด ๋ฐฉํ–ฅ์— ๋Œ€ํ•œ ๊ฐ€์†๋„ ์„ผ

์„œ ์‹ ํ˜ธ๋ฅผ ์ด์šฉํ•˜์—ฌ ๊ฐ์†๋„ ์‹ ํ˜ธ๋ฅผ ์ธก์ •ํ•œ๋‹ค. ์ธก๋ฉด ๋ฐฉํ–ฅ์—

๋Œ€ํ•œ ๊ฐ€์†๋„ ์‹ ํ˜ธ๋Š” ๋‹ค์Œ๊ณผ ๊ฐ™์ด ๋‚˜ํƒ€๋‚ผ ์ˆ˜ ์žˆ๋‹ค:

( ) ( ) ( ) 2 ( ) ( ) ( )lateral coriolis

a t a t n t t v t n tฯ‰= + = ร— + (3)

( )coriolis

a t ๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜, ( )n t ์€ ๋กœ๋ด‡์˜ ์›€์ง์ž„์— ๋Œ€ํ•œ ์™ธ

๋ถ€์˜ ๋…ธ์ด์ฆˆ, ( )tฯ‰ ์€ ๋กœ๋ด‡์˜ ๊ฐ๊ฐ€์†๋„, ( )v t ๋Š” ์ œ์•ˆํ•œ ์„ผ์„œ

์˜ ์„ ์†๋„๋ฅผ ๋‚˜ํƒ€๋‚ด๋ฉฐ, ์ด๋Ÿฌํ•œ ๊ฐ€์†๋„ ์‹ ํ˜ธ๋กœ๋ถ€ํ„ฐ ๋…ธ์ด์ฆˆ๋ฅผ

์ œ๊ฑฐํ•˜๊ณ  ๊ฐ์†๋„๋ฅผ ์–ป๊ธฐ ์œ„ํ•ด ์‹ ํ˜ธ์ฒ˜๋ฆฌ ๊ณผ์ •์ด ํ•„์š”ํ•˜๋‹ค. ๋ณธ

๋…ผ๋ฌธ์—์„œ ์‚ฌ์šฉํ•œ ๊ฐ€์†๋„ ์ธก์ •๋ถ€์˜ ์‹ ํ˜ธ์ฒ˜๋ฆฌ ๊ณผ์ •์€ 4 ๋‹จ๊ณ„

๋กœ ์ด๋ค„์ง„๋‹ค. ์ฒซ๋ฒˆ์งธ, ๊ณ ์ฃผํŒŒ์˜ ์žก์Œ์„ ์ œ๊ฑฐํ•˜๊ธฐ ์œ„ํ•ด์„œ

Chebyshev band-pass filter (BPF)๋ฅผ ํ†ต๊ณผ์‹œํ‚จ๋‹ค. ์„ ์†๋„์˜ ์ฃผ

ํŒŒ์ˆ˜ ๋Œ€์—ญ์— ๊ฐ€์†๋„ ์‹ ํ˜ธ๋ฅผ ์ถ”์ถœํ•œ๋‹ค. ๋กœ๋ด‡์˜ ๊ฐ์†๋„์™€ ์„ผ

์„œ์˜ ์„ ์†๋„๋Š” ํ‘ธ๋ฆฌ์— ๊ธ‰์ˆ˜๋กœ ๊ทผ์‚ฌํ•˜์—ฌ ๋‹ค์Œ๊ณผ ๊ฐ™์ด ๋‚˜ํƒ€

๋‚ผ ์ˆ˜ ์žˆ๋‹ค:

12

1

( )jk f t

k

k

t eฯ€

ฯ‰ ฯ‰

โˆž

=

=โˆ‘ (4)

2

2

2

1 2

2

1

( )( ) 2

jk f t

k

k jk f t

k

k

d r edr t

v t jk f r edt dt

ฯ€

ฯ€

ฯ€

โˆž

โˆž

=

=

โŽ› โŽžโŽœ โŽŸโŽ โŽ = โ‰ˆ =โˆ‘

โˆ‘ (5)

f1 ์€ ๋กœ๋ด‡์˜ ๊ฐ๊ฐ€์†๋„ ์ฃผํŒŒ์ˆ˜์ด๊ณ , r(t)๋Š” ์ œ์•ˆํ•œ ์„ผ์„œ์˜ ์œ„

์น˜, f2 ๋Š” ์—‘์ธ„์—์ดํ„ฐ์˜ ์ฃผํŒŒ์ˆ˜์— ๋น„๋ก€ํ•˜๋Š” ์„ผ์„œ์˜ ์„ ์†๋„ ์ฃผ

ํŒŒ์ˆ˜๋ฅผ ๋‚˜ํƒ€๋‚ธ๋‹ค. ๋”ฐ๋ผ์„œ BPF ๋ฅผ ํ†ต๊ณผ์‹œํ‚จ ํ›„, ๊ฐ€์†๋„ ์‹ ํ˜ธ

๋Š” ๋‹ค์Œ๊ณผ ๊ฐ™๋‹ค:

1 22 2

2 1

1

( ) 2n

jk f t j f t

lateral k

k

a t e j f reฯ€ ฯ€

ฯ‰ ฯ€

=

= ร—โˆ‘ (6)

๊ณ ์ฃผํŒŒ ์˜์—ญ์˜ ๋…ธ์ด์ฆˆ๋Š” ์ œ๊ฑฐ๊ฐ€ ๋œ๋‹ค. ๊ฐ์†๋„๋Š” BPF ์˜ ํ†ต

๊ณผ ๋Œ€์—ญ(pass band) ์˜์—ญ์˜ ์‹ ํ˜ธ๋งŒ ์กด์žฌํ•˜๊ฒŒ ๋˜๊ณ , ์„ ์†๋„๋Š”

๊ธฐ๋ณธ ์ฃผํŒŒ์ˆ˜๋งŒ ์กด์žฌํ•œ๋‹ค. BPF ์˜ cutoff frequency ๋Š” ์„ผ์„œ ๊ตฌ

๋™์ถ• ๋ฐฉํ–ฅ์˜ ์ฃผํŒŒ์ˆ˜ ๋ถ„์„์„ ํ†ตํ•ด ๊ฒฐ์ •ํ•œ๋‹ค. ๋‘๋ฒˆ์งธ, ์„ ์†๋„๊ฐ€

์ตœ๊ณ ์ธ ์ ์— ๋Œ€ํ•œ peak detection์„ ํ†ตํ•ด ๊ฐ€์†๋„ ์‹ ํ˜ธ์˜

envelope detection์„ ์ˆ˜ํ–‰ํ•˜๊ณ , moving average๋กœ ์žก์Œ์„ ์ œ๊ฑฐํ•œ

๋‹ค. ์„ธ๋ฒˆ์งธ, ์ดˆ๊ธฐ ์ •์ง€ ๊ตฌ๊ฐ„์˜ bias ๊ฐ’์„ ํ‰๊ท  ๋‚ด์„œ ์ œ๊ฑฐํ•œ๋‹ค.

๋งˆ์ง€๋ง‰์œผ๋กœ demodulation ๋œ ๊ฐ€์†๋„ ์‹ ํ˜ธ์— ์„ ์†๋„๋ฅผ ๋‚˜๋ˆ ์ฃผ

๋ฉด ์ตœ์ข…์ ์œผ๋กœ ๊ฐ์†๋„ ์‹ ํ˜ธ๋ฅผ ์–ป์„ ์ˆ˜ ์žˆ๋‹ค.

IV. ์‹คํ—˜ ๋ฐฉ๋ฒ• ๋ฐ ๊ฒฐ๊ณผ

์ œ์ž‘๋œ ๊ฐ์†๋„ ์„ผ์„œ ํ”„๋กœํ† ํƒ€์ž…์„ P3DX (Adept

MobileRobots, USA) ๋กœ๋ด‡ ์œ„์— ๋ถ€์ฐฉํ•˜์—ฌ ๊ทธ๋ฆผ 4์™€ ๊ฐ™์ด ์‹คํ—˜

ํ™˜๊ฒฝ์„ ์กฐ์„ฑํ•˜์˜€๋‹ค. ๋กœ๋ด‡์„ ์ตœ๋Œ€ 90ยฐ/s ํšŒ์ „๊ฐ์†๋„๋กœ ์‹œ๊ณ„๋ฐฉ

ํ–ฅ๊ณผ ๋ฐ˜์‹œ๊ณ„๋ฐฉํ–ฅ์œผ๋กœ ๋ฒˆ๊ฐˆ์•„ ๊ฐ€๋ฉด์„œ ์ด 8ํšŒ ํšŒ์ „์‹œ์ผœ, ํ”„๋กœ

ํ† ํƒ€์ž… ์„ผ์„œ์˜ ๊ฐ์†๋„ ์ธก์ • ๊ฒฐ๊ณผ๋ฅผ ํ™•์ธํ•˜์˜€๋‹ค. ๊ทธ๋ฆฌ๊ณ  ๋กœ๋ด‡

์— ์ƒ์šฉ ๊ฐ์†๋„ ์„ผ์„œ (STMicroelectronics, L3GD20) ๋ฅผ ํ•จ๊ป˜

(a) (b)

๊ทธ๋ฆผ 3. ์ œ์•ˆํ•œ ์„ผ์„œ์˜ ํ”„๋กœํ† ํƒ€์ž…; (a) ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•œ ๊ตฌ์กฐ

๋ฌผ, (b) ๋กœ๋ด‡์˜ ๊ตฌ๋™๋ถ€์™€ ๋™๋ ฅ ์ „๋‹ฌ๋ถ€์— ๋ถ€์ฐฉ๋œ ๊ฐ์†

๋„ ์ธก์ •๋ถ€๋ฅผ ๋‚˜ํƒ€๋ƒ„. Fig. 3. The prototype of the proposed sensor; (a) the proposed

haltere-inspired device, (b) actuation part of a robot and the proposed gyroscope integrated with robot actuation mechanism.

ํ‘œ 1. ์ œ์•ˆํ•œ ์„ผ์„œ์— ์‚ฌ์šฉ๋œ ADXL 345 ๊ฐ€์†๋„๊ณ„ (Analog

Device Inc. USA) ์˜ ์‚ฌ์–‘. Table 1. Specification of ADXL345 accelerometer (Analog Device

Inc., USA) of the proposed sensor.

Parameter Value Measurement range ยฑ16 g

Sensitivity 256 LSB/g Noise density 280 ฮผg/โˆšHz

Cross-axis sensitivity ยฑ1%

๊ทธ๋ฆผ 4. ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ์˜ feasibility ๊ฒ€์ฆ์„ ์œ„ํ•œ

์‹คํ—˜ํ™˜๊ฒฝ. Fig. 4. Experimental environments for evaluating the feasibility of

the gyroscope integrated with actuation parts of a robot.

Biomimetic Gyroscope Integrated with Actuation Parts of a Robot Inspired by Insect Halteres

์ • ๋ฏผ ๊ธฐ, ๊น€ ์ง€ ์ˆ˜, ์žฅ ์„œ ํ˜•, ์ด ํƒœ ์žฌ, ์‹ฌ ํ˜• ๋ณด, ๊ณ  ํ˜• ํ˜ธ, ์กฐ ๊ทœ ์ง„, ์กฐ ๋™ ์ผ

708

์žฅ์ฐฉํ•˜์—ฌ ์ œ์•ˆํ•œ ๊ฐ์†๋„ ์„ผ์„œ์™€ ๋น„๊ตํ•˜์˜€๋‹ค. ์ œ์•ˆํ•œ ๊ฐ์†๋„

์„ผ์„œ์™€ ์ƒ์šฉ ๊ฐ์†๋„ ์„ผ์„œ์—์„œ ์ธก์ •๋œ ๊ฐ’์„ ๊ทธ๋ฆผ 5์™€ ๊ฐ™์ด ๋‚˜

ํƒ€๋‚ด์—ˆ๋‹ค. ์ œ์‹œ๋œ ๊ฐ์†๋„ ์ธก์ • ๊ฒฐ๊ณผ์—์„œ 90ยฐ/s ์˜ ํšŒ์ „์ด ๋ฐœ

์ƒํ•œ ๊ตฌ๊ฐ„์€ ์˜ค์ฐจ๊ฐ€ 1 - 3ยฐ/s ๋ฐœ์ƒ ํ–ˆ์œผ๋ฉฐ, -90ยฐ/s ์˜ ํšŒ์ „์ด ๋ฐœ

์ƒํ•œ ๊ตฌ๊ฐ„์€ ์˜ค์ฐจ๊ฐ€ 1 - 2ยฐ/s ๋ฐœ์ƒํ–ˆ๋‹ค. ๋ฐ˜๋ฉด์—, ํšŒ์ „์ด ๋ฐœ์ƒํ•˜

์ง€ ์•Š๋Š” 0ยฐ/s ์˜ ๊ตฌ๊ฐ„์—์„œ๋Š” ์ตœ๋Œ€ 20ยฐ/s ์˜ ์˜ค์ฐจ๊ฐ€ ๋ฐœ์ƒํ•˜์˜€๋‹ค.

ํ”„๋กœํ† ํƒ€์ž…์€ ํšŒ์ „์— ์—†๋Š” ๊ตฌ๊ฐ„์—์„œ ํฐ ์˜ค์ฐจ๋ฅผ ๋ฐœ์ƒ ์‹œํ‚ค

๋Š”๋ฐ, ์ด๋Š” ๋‘ ๊ฐ€์ง€์˜ ๊ตฌ์กฐ์  ๋ฌธ์ œ๋กœ ์ธํ•ด ๋ฐœ์ƒํ•˜๋Š” ๊ฒƒ์œผ๋กœ

ํŒ๋‹จ๋œ๋‹ค. ์ฒซ์งธ, ๋กœ๋ด‡์˜ ์—‘์ถ”์—์ดํ„ฐ์—์„œ ๋ฐœ์ƒํ•œ ๋™๋ ฅ์„ y-์ถ•

์„ ์†๋„๋กœ ๋ณ€ํ™˜ํ•ด์ฃผ๋Š” ๊ณผ์ •์—์„œ ๊ตฌ์กฐ๋ฌผ ์ž์ฒด์˜ ์ง„๋™์ด ๋ฐœ์ƒ

ํ•œ๋‹ค. ๋‘˜์งธ, ์‹ ํ˜ธ์ˆ˜์‹ ์„ ์œ„ํ•ด ์—ฐ๊ฒฐ๋œ ์™€์ด์–ด์˜ ์žฅ๋ ฅ์œผ๋กœ ์ธํ•ด

์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜์„ ๊ฐ์ง€ํ•˜๊ธฐ ์œ„ํ•œ x-์ถ• ๋ฐฉํ–ฅ์œผ๋กœ ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜ ์ด์™ธ

์˜ ์šด๋™์„ฑ๋ถ„์ด ๋ฐœ์ƒํ•˜๊ฒŒ ๋œ๋‹ค. ์ด๋Ÿฌํ•œ ๊ตฌ์กฐ์  ํ•œ๊ณ„์ ์œผ๋กœ ์ธ

ํ•ด x-์ถ• ๋ฐฉํ–ฅ์˜ ์‹ ํ˜ธ์— ๋…ธ์ด์ฆˆ๊ฐ€ ๋ฐœ์ƒํ•˜๊ณ , ๊ฐ์†๋„ ์ธก์ •์˜ ์˜ค

์ฐจ๊ฐ€ ๋ฐœ์ƒํ•œ๋‹ค. ํ–ฅํ›„ ์ด๋ฅผ ํ•ด๊ฒฐํ•˜๊ธฐ ์œ„ํ•ด ์™€์ด์–ด๋ฅผ ๊ตฌ์กฐ๋ฌผ์—

์ผ์ฒดํ™” ํ•˜๊ณ , ์ง„๋™์„ ์ค„์ผ ์ˆ˜ ์žˆ๋Š” ๊ตฌ์กฐ๋ฌผ์„ ์žฌ์„ค๊ณ„ํ•˜์—ฌ ์ •

๋ฐ€๋„๋ฅผ ํ–ฅ์ƒ์‹œํ‚ค๋Š” ์—ฐ๊ตฌ๋ฅผ ์ง„ํ–‰ํ•  ๊ฒƒ์ด๋‹ค.

V. ๊ฒฐ๋ก 

๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ๊ณค์ถฉ์˜ ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•˜์—ฌ ๊ฐ€์†๋„ ์ถ”์ •๋ถ€

๊ฐ€ ์ผ์ฒดํ™”๋œ ์ƒˆ๋กœ์šด ๊ตฌ์กฐ์˜ ๊ฐ์†๋„ ์„ผ์„œ ์•„์ด๋””์–ด๋ฅผ ์ œ์•ˆํ•˜

์˜€๋‹ค. ์ œ์•ˆํ•œ ์„ผ์„œ๋Š” ๋กœ๋ด‡์˜ ๊ตฌ๋™ ๋™๋ ฅ์„ ์ด์šฉํ•˜์—ฌ ํ‰ํ˜•๊ณค

๋ชจ๋ฐฉ ๊ตฌ์กฐ๋ฌผ์„ ์ง„๋™์‹œ์ผœ์ฃผ๋Š” ๋™๋ ฅ์ „๋‹ฌ์žฅ์น˜์™€ ๊ตฌ์กฐ๋ฌผ ๋์—

๊ฐ€์†๋„ ์„ผ์„œ๊ฐ€ ๋ถ€์ฐฉ๋˜์–ด ํšŒ์ „์— ์˜ํ•ด ๋ฐœ์ƒํ•˜๋Š” ์ฝ”๋ฆฌ์˜ฌ๋ฆฌํž˜

์„ ์ธก์ •ํ•˜๊ณ , ์‹ ํ˜ธ์ฒ˜๋ฆฌ ๊ณผ์ •์„ ํ†ตํ•ด ๊ฐ์†๋„๋ฅผ ์ธก์ •ํ•˜๋Š” ๊ฐ์†

๋„ ์ธก์ • ์žฅ์น˜๋กœ ๊ตฌ์„ฑ๋˜์—ˆ๋‹ค. ์ œ์•ˆํ•œ ์„ผ์„œ๋Š” ์ž์ฒด์˜ ๊ตฌ๋™๋ถ€

์—†์ด ๋กœ๋ด‡์˜ ๊ตฌ๋™๋ ฅ์—์„œ ์ง„๋™์‹œํ‚ค๋Š” ๋™๋ ฅ์„ ์–ป๊ธฐ ๋•Œ๋ฌธ์—, ๋ณ„

๋„์˜ ์ „๋ ฅ๊ณต๊ธ‰ ์—†์ด๋„ ๊ฐ์†๋„ ์ถ”์ •์ด ๊ฐ€๋Šฅํ•˜๋‹ค. ๋˜ํ•œ, ์ •ํ•ด์ง„

๊ณต์ง„ ์ฃผํŒŒ์ˆ˜๊ฐ€ ์•„๋‹Œ ๋กœ๋ด‡ ๊ตฌ๋™๋ถ€์˜ ์ฃผํŒŒ์ˆ˜์— ๋”ฐ๋ผ์„œ ์„ผ์„œ๊ฐ€

๊ณต์ง„ํ•˜๊ธฐ ๋•Œ๋ฌธ์—, ๊ณต์ง„ ์ฃผํŒŒ์ˆ˜๊ฐ€ ๋กœ๋ด‡์˜ ๊ตฌ๋™์— ๋”ฐ๋ผ ๋ณ€ํ•˜๊ณ ,

๊ณต์ง„ ์ฃผํŒŒ์ˆ˜๋ฅผ ์ด์šฉํ•œ ์ŒํŒŒ ๋“ฑ์˜ ์™ธ๋ถ€ ๊ณต๊ฒฉ์— ๊ฐ•์ธํ•  ์ˆ˜ ์žˆ

๋‹ค. ์ œ์•ˆํ•œ ์•„์ด๋””์–ด๋ฅผ ๊ฒ€์ฆํ•˜๊ธฐ ์œ„ํ•ด ์ œ์•ˆํ•œ ์„ผ์„œ์˜ ํ”„๋กœํ† 

ํƒ€์ž…์„ ๊ตฌํ˜„ํ•˜์˜€์œผ๋ฉฐ, ์‹คํ—˜์„ ํ†ตํ•ด feasibility ๋ฅผ ํ™•์ธํ•˜์˜€๋‹ค.

ํ–ฅํ›„์—๋Š” ๊ตฌ์กฐ๋ฌผ์˜ ์žฌ์„ค๊ณ„๋ฅผ ํ†ตํ•ด ์„ผ์„œ์˜ ์ •๋ฐ€๋„๋ฅผ ํ–ฅ์ƒ

์‹œํ‚ค๋Š” ์—ฐ๊ตฌ๋ฅผ ์ง„ํ–‰ํ•  ๊ฒƒ์ด๋‹ค. ๋˜ํ•œ, ์ œ์•ˆํ•˜๋Š” ๋ฐฉ์‹์„ ์ง€์ƒ

ํ˜น์€ ๋น„ํ–‰ ๋กœ๋ด‡ ๋“ฑ์˜ ๋‹ค์–‘ํ•œ ๋กœ๋ด‡ ํ”Œ๋žซํผ์— ์ ์šฉํ•˜๋Š” ์—ฐ๊ตฌ๋ฅผ

์ง„ํ–‰ํ•  ์˜ˆ์ •์ด๋‹ค. ํŠนํžˆ ๋น„ํ–‰๋กœ๋ด‡์ด ํ™œ๊ณต ํ•˜๋Š” ๊ฒฝ์šฐ์—๋Š” ํ•ด๋‹น

๊ตฌ๊ฐ„์—์„œ ๊ตฌ๋™๋ ฅ์„ ์–ป๊ธฐ ํž˜๋“ ๋ฐ, ์ด๋Ÿฌํ•œ ๊ตฌ๊ฐ„์—์„œ๋„ ๋™์ž‘ ๊ฐ€

๋Šฅํ•œ ์ž์ด๋กœ ์„ผ์„œ ๊ด€๋ จ ์—ฐ๊ตฌ๋ฅผ ์ง„ํ–‰ํ•  ์˜ˆ์ •์ด๋‹ค.

REFERENCES

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Control, Automation and Systems, vol. 12, no. 2, pp. 390-398, 2014.

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Conference on Security Symposium, pp. 881-896, Washington

๊ทธ๋ฆผ 5. ์ œ์•ˆํ•œ ๊ฐ์†๋„ ์„ผ์„œ feasibility ์‹คํ—˜ ๊ฒฐ๊ณผ. Fig. 5. Experimental results of the fabricated prototype and the

commercial gyroscope.

ํ‰ํ˜•๊ณค์„ ๋ชจ์‚ฌํ•œ ์ƒ์ฒด๋ชจ๋ฐฉํ˜• ๊ตฌ๋™๋ถ€ ์ผ์ฒดํ˜• ๊ฐ์†๋„ ์„ผ์„œ

709

D.C., USA, Aug. 2015. [15] R. A. Thompson, W. F. Wehling, J. H. Evers, and W. E. Dixon,

โ€œBody rate decoupling using haltere mid-stroke measurements for inertial flight stabilization in Diptera,โ€ Journal of

Comparative Physiology A, vol. 195, no. 1, pp. 99-112, 2009. [16] G. Nalbach, โ€œThe halteres of the blowfly calliphora,โ€ Journal of

Comparative Physiology A, vol. 173, no. 3, pp. 293-300, 1993. [17] T. Deora, A. K. Singh, and S. J. Sane, โ€œBiomechanical basis of

wing and haltere coordination in flies,โ€ Proc. of the National

Academy of Sciences, vol. 112, no. 5, pp. 1481-1486, Feb. 2015. [18] G. Smith, R. Rudy, D. DeVoe, S. Bedair, W. Nothwang, J.

Pulskamp, L. Sanchez, R. Proie, V. Ganesan, J. Conroy, and R. Polcawich, โ€œThin film PZT piezo MEMS for micro-robotic angular rate sensing and rotary actuation,โ€ Presented at the 2nd Multifunctional Materials for Defense Workshop, Arlington, VA, USA, July 31, 2012.

์ • ๋ฏผ ๊ธฐ

2014๋…„ ์„ฑ๊ท ๊ด€๋Œ€ํ•™๊ต ๋ฐ”์ด์˜ค์—”์ง€๋‹ˆ์–ด๋ง

ํ•™๊ณผ ์กธ์—…(๊ณตํ•™์‚ฌ). 2015๋…„~ํ˜„์žฌ ์„œ์šธ๋Œ€

ํ•™๊ต ๋ฐ”์ด์˜ค์—”์ง€๋‹ˆ์–ด๋งํ•™๊ณผ ์„์‚ฌ๊ณผ์ •.

๊ด€์‹ฌ๋ถ„์•ผ๋Š” MEMS, ์ƒ์ฒด๋ชจ๋ฐฉ์ž์œจ๋กœ๋ด‡,

์˜๊ณตํ•™.

๊น€ ์ง€ ์ˆ˜

2010๋…„ ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ๊ณตํ•™๋ถ€(๊ณตํ•™์‚ฌ).

2010๋…„~ํ˜„์žฌ ์„œ์šธ๋Œ€ํ•™๊ต ์„๋ฐ•ํ†ตํ•ฉ๊ณผ์ •.

๊ด€์‹ฌ๋ถ„์•ผ๋Š” ์ œ์–ด์ด๋ก .

์žฅ ์„œ ํ˜•

2011๋…„ ๊ฒฝ๋ถ๋Œ€ํ•™๊ต ์กธ์—…(๊ณตํ•™์‚ฌ). 2012๋…„

~ํ˜„์žฌ ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ์ปดํ“จํ„ฐ๊ณตํ•™๋ถ€ ๋ฐ•

์‚ฌ๊ณผ์ •. ๊ด€์‹ฌ๋ถ„์•ผ๋Š” MEMS, ์ƒ์ฒด๋ชจ๋ฐฉ์ž

์œจ๋กœ๋ด‡.

์ด ํƒœ ์žฌ

2011๋…„ ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ์ปดํ“จํ„ฐ๊ณตํ•™๋ถ€

์กธ์—…(๊ณตํ•™์‚ฌ). 2012๋…„~ํ˜„์žฌ ์„œ์šธ๋Œ€ํ•™๊ต

์ „๊ธฐ์ปดํ“จํ„ฐ๊ณตํ•™๋ถ€ ๋ฐ•์‚ฌ๊ณผ์ •. ๊ด€์‹ฌ๋ถ„์•ผ

๋Š” ๋กœ๋ด‡ ๋น„์ ผ ์‹œ์Šคํ…œ ๊ฐœ๋ฐœ, SLAM, ๋ฉ€ํ‹ฐ

์„ผ์„œ ์‘์šฉ.

์‹ฌ ํ˜• ๋ณด

1993๋…„ ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ๊ณตํ•™๊ณผ(๊ณตํ•™์‚ฌ).

1995๋…„ ์„œ์šธ๋Œ€ํ•™๊ต(๊ณตํ•™์„์‚ฌ). 2000๋…„

์„œ์šธ๋Œ€ํ•™๊ต (๊ณตํ•™๋ฐ•์‚ฌ). 2000๋…„~2001๋…„

๋ฏธ๊ตญ California ๋Œ€ํ•™ ๋ฐ•์‚ฌ ํ›„ ์—ฐ๊ตฌ์›.

2002๋…„~2003๋…„ ํ•œ์–‘๋Œ€ํ•™๊ต ์ „์ž์ „๊ธฐ์ปด

ํ“จํ„ฐ๊ณตํ•™๋ถ€ ๊ต์ˆ˜. 2003๋…„~ํ˜„์žฌ ์„œ์šธ๋Œ€

ํ•™๊ต ์ „๊ธฐ ยท ์ •๋ณด๊ณตํ•™๋ถ€ ๊ต์ˆ˜. ๊ด€์‹ฌ๋ถ„์•ผ๋Š” ์ œ์–ด์ด๋ก .

๊ณ  ํ˜• ํ˜ธ

2004๋…„ ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ๊ณตํ•™๊ณผ(๊ณตํ•™์‚ฌ).

2008๋…„ ์„œ์šธ๋Œ€ํ•™๊ต(๊ณตํ•™๋ฐ•์‚ฌ). 2008๋…„

~2010๋…„ ์‚ผ์„ฑ์ „์ž ๊ทผ๋ฌด. 2010๋…„ ์ถฉ๋‚จ๋Œ€

ํ•™๊ต ์ „๊ธฐ๊ณตํ•™๊ณผ ์กฐ๊ต์ˆ˜. ๊ด€์‹ฌ๋ถ„์•ผ๋Š”

CMOS ์•„๋‚ ๋กœ๊ทธ ํšŒ๋กœ ๋””์ž์ธ.

์กฐ ๊ทœ ์ง„

1988๋…„ ์„œ์šธ๋Œ€ํ•™๊ต ๊ธฐ๊ณ„๊ณตํ•™๋ถ€(๊ณตํ•™

์‚ฌ). 2000๋…„ ์„œ์šธ๋Œ€ํ•™๊ต ๊ธฐ๊ณ„๊ณตํ•™๋ถ€(๊ณต

ํ•™์„์‚ฌ). 2007๋…„ Massachusetts Institute of

Technology ๊ธฐ๊ณ„๊ณตํ•™๋ถ€(๊ณตํ•™๋ฐ•์‚ฌ). 2013

๋…„~ํ˜„์žฌ ์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› ๊ธฐ๊ณ„ํ•ญ๊ณต

๊ณตํ•™๋ถ€, ์ •๋ฐ€๊ธฐ๊ณ„์„ค๊ณ„๊ณต๋™์—ฐ๊ตฌ์†Œ ๋ถ€๊ต

์ˆ˜, ๊ด€์‹ฌ๋ถ„์•ผ๋Š” ์ƒ์ฒด๋ชจ๋ฐฉ, ์žฌํ™œ ๊ณตํ•™, ์ฐฉ์šฉํ˜• ๋กœ๋ด‡, ์Šค๋งˆํŠธ

๊ตฌ๋™๊ธฐ.

์กฐ ๋™ ์ผ

1980๋…„ ๋ฏธ๊ตญ Carnegie Mellon University

๊ธฐ๊ณ„๊ณตํ•™(๊ณตํ•™์‚ฌ). 1984๋…„ ๋ฏธ๊ตญ Massa-

chusetts Institute of Technology ๊ธฐ๊ณ„๊ณตํ•™

(๊ณตํ•™์„์‚ฌ). 1987๋…„ ๋ฏธ๊ตญ Massachusetts

Institute of Technology ๊ธฐ๊ณ„๊ณตํ•™(๊ณตํ•™๋ฐ•

์‚ฌ). 1987๋…„~1993๋…„ Princeton University

๊ธฐ๊ณ„ํ•ญ๊ณต์šฐ์ฃผ๊ณตํ•™๊ณผ ์กฐ๊ต์ˆ˜. 1993๋…„~ํ˜„์žฌ ์„œ์šธ๋Œ€ํ•™๊ต ์ „๊ธฐ์ •

๋ณด๊ณตํ•™๋ถ€ ๊ต์ˆ˜. 2013~ํ˜„์žฌ ์„œ์šธ๋Œ€ํ•™๊ต ์ƒ์ฒด๋ชจ๋ฐฉ๋กœ๋ด‡ ๊ตญ๋ฐฉํŠน

ํ™” ์—ฐ๊ตฌ์„ผํ„ฐ ์„ผํ„ฐ์žฅ. 2002~2005๋…„ International Federation of

Automatic Control (IFAC) ๊ธฐ์ˆ ์œ„์›. 2008~2014๋…„ IFAC ๊ธฐ์ˆ ์œ„

์›ํšŒ ๋ถ€์˜์žฅ. 2014~ํ˜„์žฌ IFAC ๊ธฐ์ˆ ์œ„์›ํšŒ ์ž๋ฌธ์œ„์›.

1992~2012๋…„ Micro-electromechanical Systems ์„ ์ž„ ํŽธ์ง‘์œ„์›.

1991~1996๋…„ IOP Journal of Micromechanics and Microengineering

์ดˆ๋Œ€ ํŽธ์ง‘์œ„์›. 2003~2007๋…„ ํ•œ๊ตญ MEMS ๊ธฐ์ˆ ์—ฐ๊ตฌ์กฐํ•ฉ ์ด์‚ฌ

์žฅ. 2013~2021๋…„ International Steering Committee of Transducers

ํšŒ์›. 2013๋…„~ํ˜„์žฌ ํ•œ๊ตญ๊ณตํ•™ํ•œ๋ฆผ์› ์ •ํšŒ์›. 2016๋…„ ์ œ์–ด๋กœ๋ด‡

ยท์‹œ์Šคํ…œํ•™ํšŒ(ICROS) ์ฐจ๊ธฐํšŒ์žฅ. ๊ด€์‹ฌ๋ถ„์•ผ๋Š” MEMS ๊ณต์ •๊ธฐ

์ˆ , ๋กœ๋ด‡ ๋ฐ ์ž๋™ํ™” ์ œ์–ด๊ธฐ์ˆ , MEMS ๋ฐ ์ƒ์ฒด๋ชจ๋ฐฉ ์„ผ์„œ, ํ€€ํ…€

๊ธฐ์ˆ ์„ ์œ„ํ•œ ์ด์˜จ ํŠธ๋žฉ.