Proceedings of the Korean Society for Emotion and Sensibility Conference (한국감성과학회:학술대회논문집)

Korean Society for Emotion and Sensibility (한국감성과학회)
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Mechanism Design of the Interactive Emotional Robot

대화형 감성 로봇의 메커니즘 설계

  • 김연훈 (한국과학기술원 기계공학과 대학원) ;
  • 윤석준 (한국과학기술원 기계공학과 대학원) ;
  • 이동연 (한국과학기술원 기계공학과 대학원) ;
  • 곽윤근 (한국과학기술원 기계공학과)
  • Published : 2001.11.01
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Abstract

The mechanism design of the interactive emotional robot has been carried out. The two-wheeled inverted pendulum type mechanism was adopted to improve the mobility and make the innate clumsy monoaxial bicycle motion. Even though the system is unstable in itself, it is expected for the robot to move freely in a plane, keeping the upright position only with two wheels. Two motors attached on head can make 4 motion sets, and two motors on the wheels can make 8. Therefore, 32 independent motion sets can be achieved from the robot to communicate the emotions with humans. The motion's equation of the robot was derived based on nonholonomic dynamics, and the necessary power to the wheel's rotational axis was found by simulation.

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