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Guard Robots

Guard Robots for Social Security

  • Researchers
    • Byeong-Sang Kim (Ph.D., Ki-Seok Kim (Master)
  • Research Period
    • 2006. 10. ~ 2009. 09.
  • Research Background
    • The use of robots is increasing in various areas related to security, such as crime prevention, rescue, and reconnaissance.
    • This requires high mobility to overcome a obstacles and cope with different situations.

Jumping Guard Robot: Guardian

  • Research Objectives
    • Development of a portable guard robot capable of jumping.
    • Small size and light-weight ⇒ Portable and throwable .
    • Overcoming obstacles, traps, pools, etc.
    • Durability against shock and impact.
  • Guardian
    • Size: 15cm(D)x30cm(L)
    • Weight: 3kg
    • Jump height: 20cm
    • Max. speed: 2m/s
    • Sensors: 3-axis acceleration sensor, 3-axis gyro sensor, PSD sensor

  • Jumping Mechanism
    • Jumping mechanism based on a conical spring and clutch mechanism.
    • Conical spring: A resentative nonlinear, hardening spring.
    • Clutch mechanism: Based on a planetary gear trains and one-way clutch.


  • Stair Climbing
    • Most difficult obstacle for small-sized robot.
    • Size of the stair: 20cm(H) x 30cm(D) x 50cm(W)

  • Patrolling
    • Most popular application for social security robot.

  • Related Papers
    • Paper 1:  Ki-Seok Kim, Byung-Sang Kim, Jae-Bok Song, Chung-Hyuk Yim, Mobility Improvement of a Jumping Robot using Conical Spring with Variable Length Endtip, Journal of Institute of Control, Robotics and Systems, Vol. 15, No. 11, pp. 1108-1114, 2009.   
    • Paper 2: Byeong-Sang Kim, Jang-Woon Lee, Hyun-Jung Kim, Quy-Hung Vu and Jae-Bok Song, Development of Conical Spring-based Jumping Mechanism for a Portable Robot, KSME Annual Spring Meeting, pp. 1195-1200, 2007.  
    • Paper 3: Ki-Seok Kim, Byeong-Sang Kim, Jae-Bok Song, Eun-Seok Kim, Adjustable Jumping Angle-Height Mechanism for a Jumping Robot, KSME Annual Spring Meeting, pp.145-147. 2008.
    • Paper 4: Byeong-Sang Kim, Ki-Seok Kim, Deog-In Min, Jae-Bok Song, Develpoment of Jumping Mechanism for a Portable Guard Robot, Proc. of 39th International Symposium on Robotics, pp. 162-166, 2008. 

Multi-Active Crawler robot (MACbot)
  • Research Objectives
    • Development of small-sized track robot with high mobility.
    • Self-right capability when the robot is overturned.
    • Stair climbing
  • MACbot
    • Size: 27cm(W)x49cm(L)x18cm(H)
    • Weight: 4kg
    • Max. height of obstacle: 18cm
    • Max. speed: 1m/s(normal mode), 0.4m/s(obstacle mode)
    • Sensors: optical sensor, 3-axis acceleration sensor, PSD sensor


  • Three Operating Modes
    • Normal mode- On fine terrain
    • Obstacle mode- When the robot encounters obstacles
    • Recovery mode- When the robot is overturned

  • Stair Climbing
    • Autonomous stair climbing with sensors information.


  • Recovery Mode
    • Recovering its desired pose when the robot is overturned.

  • Related Papers
    • Paper 1:  Byeong-Sang Kim, Quy-Hung Vu, Jae-Bok Song, Chung-Hyuk Yim, Novel Design of a Small Field Robot with Multi-Active Crawlers Capable of Autonomous Stair Climbing, Journal of Mechanical Science and Technology, Vol. 24, No. 1, pp. 343-350, 2010.  
    • Paper 2: Quy-Hung Vu, Byeong-Sang Kim and Jae-Bok Song, Recoverable Multi-tracked Robot with Capability of Traveling and Crawling Track,KSME Annual Spring Meeting, pp.153, 2008
    • Paper 3: Quy Hung Vu, Byeong-Sang Kim, Jae-Bok Song, Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot, Proc. of Int. Conf. on Control, Automation and Systems, pp. 2356-2360, 2008.(Outstanding paper award    

Last modified: 2012.05.9