Making Robots

CARTRASCHE

This project was done in a ‘Creative Product Design’ class. My team was tasked with creating a new product that contributes to societal development. We designed and built a autonomous driving robot platform with tri-shelf rotating mechanism that follows specific worksman, provide task-specific tools and automatically refill empty shelf to reduce labor and enlarge productivity at large manufacturing plants.
I was responsible for constructing the actuation parts, circuit design of the whole system under restricted battery constraints. In addition I developed the whole algorithm for BLDC motor control without encoder soley by hall sensor feedback and precise PWM control with hand-made RC filter. Marking this achievement, we are preparing a patent and a publication for this product.
code repository -> LINK
Achievements
National ICT Smart Device Competetion, Grand Prize(1st place) 2024, Ministery of Science and ICT
Grand Prize granted by Minister of Science and ICT
Patent : Wonjun Kim, Hyunjin Park, Minjun Chang, Meedum Cho, Hyunjun Kim, “Autonomous Human Following Manufacture Assistant Robotic Platform”, Korea (on preparation) *equal contribution

SAJOGI, a Spot Micro

Built a Spot Micro robot from scratch based on open-source model


My SPOT, SAJOGI is made with high-torque servo motors and has RaspberryPi4B for controller. I managed to make him walk(kind of)…!
At that time my understanding on electric circuit was insufficient, which led to buzzing and unexpected movements. This experience led me to build experties on electric circuits and later was able to design full analog circuit with RC filters on CARTRASCHE.
code repository -> LINK

BOLT6, 6DoF Bipedal Robot

hardware configuration from Open Dynamic Robot Initiative

To be continued…