Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Human-Robot Interaction Entertainment Pet Robot

HRI 엔터테인먼트 애완 로봇

  • Lee, Heejin (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
  • 이희진 (국립한경대학교 전기전자제어공학과/IT융합기술연구소)
  • Received : 2014.03.14
  • Accepted : 2014.03.27
  • Published : 2014.04.25
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a quadruped walking pet robot for human-robot interaction, a robot-controller using a smart phone application program, and a home smart control system using sensor informations providing from the robot are described. The robot has 20 degree of freedom and consists of various sensors such as Kinect sensor, infrared sensor, 3 axis motion sensor, temperature/humidity sensor, gas sensor and graphic LCD module. We propose algorithms for the robot entertainment: walking algorithm of the robot, motion and voice recognition algorithm using Kinect sensor. emotional expression algorithm, smart phone application algorithm for a remote control of the robot, and home smart control algorithm for controlling home appliances. The experiments of this paper show that the proposed algorithms applied to the pet robot, smart phone, and computer are well operated.

본 논문은 인간과 상호작용하는 엔터테인먼트 4족 애완 로봇과 스마트폰에서 로봇 조종이 가능한 로봇제어기 및 로봇에서 제공하는 센서 정보들을 이용하여 컴퓨터에서 가정용 기기들을 제어하는 홈스마트제어시스템을 구현하기 위한 것으로 로봇은 20 자유도를 가지면서 Microsoft사의 키넥트 센서, 적외선거리 센서, 3축 모션 센서, 그래픽 LCD, 온습도 및 가스 센서로 구성되어 있다. 로봇의 엔터테인먼트 기능을 구현하기 위하여 보행 알고리즘, 키넥트 센서를 이용한 모션 및 음성인식 알고리즘, 감정표현을 위한 알고리즘을 제시하였으며 로봇을 조종할 수 있는 스마트폰 로봇제어 알고리즘 및 가정용 기기를 제어하는 홈스마트제어 알고리즘을 제안하였다. 본 논문에서 제안한 알고리즘들은 구현한 로봇과 컴퓨터 및 스마트폰에 적용하여 실험으로 검증하였다.

Keywords

References

  1. E. H. Kim, Kwak, S. S. Kwak, K. H., Hyun, S. H., Kim, Y. K. Kwak, "Design and Development of an Emotional Iteraction Robot, Mung," Advanced Robotics, vol. 23, no. 6, pp. 767-784, 2009. https://doi.org/10.1163/156855309X431712
  2. W. K. Choi, S. J. Kim, J. S. Kim, J. Y. Jeo, H. T. Jeon, "Implementation of Intelligent and Human-Friendly Home Service Robot", Journal of The Korean Institute of Intelligent Systems, vol. 14, no. 6, pp. 720-725, 2004. https://doi.org/10.5391/JKIIS.2004.14.6.720
  3. E. H. Kim, "Speech Emotion Recognition Using Confidence Level for Emotional Interaction Robot", Journal of The Korean Institute of Intelligent Systems, vol. 19, no. 6, pp. 755-759, 2009. https://doi.org/10.5391/JKIIS.2009.19.6.755
  4. S. Kim, S. Kim, J. K. Park, C. H. Han, W. Kim, "Handy Robot that Conveys User"s Emotion", Journal of The Korean Institute of Intelligent Systems, vol. 19, no. 1, pp. 48-53, 2009. https://doi.org/10.5391/JKIIS.2009.19.1.048
  5. H. Jung, D. H. Kim, "Control of a Mobile Robot Based on a Tangible Interface using iPhone", Journal of The Korean Institute of Intelligent Systems, vol. 21, no. 3, pp. 335-340, 2011. https://doi.org/10.5391/JKIIS.2011.21.3.335
  6. Hee-Deok Yang, A-Yeon Park, and Seong-Whan Lee, "Gesture Spotting and Recognition for Human Robot Interaction," IEEE Transactions on Robots, vol. 23, no. 2, pp. 256-270, 2007. https://doi.org/10.1109/TRO.2006.889491
  7. K. Ko, K. Sim, "A Study on Human-Robot Interface based on Imitative Learning using Computational Model of Mirror Neuron System", Journal of The Korean Institute of Intelligent Systems, vol. 23, no. 6, pp. 565-570, 2013. https://doi.org/10.5391/JKIIS.2013.23.6.565
  8. G. S. Hornby, S. Takamura, T. Yamamoto, M. Fujita, "Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots", IEEE Trans. Robotics, vol. 21, no. 3, pp.402-410, 2005. https://doi.org/10.1109/TRO.2004.839222
  9. L. Hohl, R. Tellez, O. Michel, A. J. Ijspeert, "Aibo and Webots: Simulation, wireless remote control and controller transfer", Robotics and Autonomous Systems, 54(2006), pp. 472-485, 2006. https://doi.org/10.1016/j.robot.2006.02.006
  10. L. Lee, S. Park, H. Kim, Y. Kwon, S. Kang, B. Choi, "An Intelligence Embedding Quadruped Pet Robot with Sensor Fusion," Journal of Institute of Control, Robotics and Systems, vol. 11, no. 4, pp. 314-321, 2005.
  11. X. Feng, S. A. Velinsky, and D. Hong, "Integrating embedded PC and internet technologies for real-time control and imaging," IEEE/ASME Trans. On Mechatronics, vol. 7, no. 1, pp. 52-60, 2002. https://doi.org/10.1109/3516.990887
  12. G. S. Hornby, S. Takamura, J. Yokono, O. Hanagata, Y. Yamamoto, and M. Fujita, "Evolving robust gaits with AIBO," Proc. of 2000 IEEE Int' Conf. On Robots and Automation, vol. 3, pp. 3040-3045, 2000.