• Proceedings of the Korea Information Processing Society Conference
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• 2010.11a
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• pp.1410-1413
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• 2010

유비쿼터스와 로봇 제어기술이 융합하여 상호작용 하면서 로봇 기술이 빠르게 발전하고 있다. 그 중 인간의 생각과 행동을 대신 해주는 서비스 로봇인 휴머노이드 로봇에 대한 관심이 높아지고 있다. 본 연구는 휴머노이드 로봇을 이용하여 초상화를 실시간으로 빨리 그리는 새로운 기법과 그 기법을 적용하는 소프트웨어 시스템을 제안한다. 이때 사람을 인지하는 것, 종이위에서 붓(펜)이 움직이는 궤적과 속도를 제어하는 기술이 핵심이다. 더욱이 유비쿼터스 환경에서 중요한 컨트롤 포인트로 인식되고 있는 모바일 기기를 이용한 로봇 제어 기술도 계획 중이다. 본 과제에서는 로봇의 궤적을 최적화 하여 드로잉 속도를 빠르게 하고, 더 부드럽고 자연스러운 초상화를 드로잉 하며 실시간과 적응성을 높인다.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.5
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• pp.981-988
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• 2023

As the usage of unmanned aerial vehicles expands, the development and the demand of related technologies are increasing. As the frequency of operation increases and the convenience of operation is emphasized, the importance of related autonomous flight technology is also highlighted. Establishing a path plan to reach the destination in autonomous flight of an unmanned aerial vehicle is important in guidance and control, and a technology for automatically generating path plan is required in order to maximize the effect of unmanned aerial vehicle. In this study, the optimization research of path planning using rapid-exploring random tree method was performed for increasing the effectiveness of autonomous operation. The path planning optimization method considering the characteristics of the unmanned aerial vehicle is proposed. In order to achieve indexes such as optimal distance, shortest time, and passage of mission points, the path planning was optimized in consideration of the mission goals and dynamic characteristics of the unmanned aerial vehicle. The proposed methods confirmed their applicability to the generation of path planning for unmanned aerial vehicles through performance verification for obstacle situations.

• Management & Information Systems Review
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• v.34 no.3
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• pp.251-271
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• 2015

This article examines the HRD implications of using robotic technology in the workplace. Because existing literature has been primarily about the technical engineering aspects of robotics, it is difficult to understand the socio-cultural perspective about the challenges and potentials of robotization in the workplace. Especially, in order to identify the best organizational support appropriate for working with robots, this article indicates alternative perspective for observing human-robot interaction in the workplace. In addition, this article points out four implications of robotic technology in organizations for practice and research development in HRD. These implications were identified as (1) defining the components of expertise in terms of human-robot interaction, (2) coping with organizational change process resulting from robotic technology, (3) designing appropriate interventions for an organization to effectively assist human-robot interaction, and (4) establishing the code of work ethics in the robotic age. The suggested implications can contribute to shaping conceptual frameworks for further empirical social science research.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.6
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• pp.87-94
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• 2010

In this paper, a new simulator of the biped robot for planning walking patterns was showed. And this simulator(MHBiped) is able to not only visualize the plan of patterns but also verify whether a biped robot design is suitable. In addition, MHBipd can modify various kinds of walking parameters and the trajectory of biped robot. Therefore, a new biped robot can be designed easily by the this simulator before you apply to a robot. As a result, a well-balanced parameters of walking patterns watching the movement of CG and ZMP can be obtained. Walking patterns should be changed according to both the existence of obstacles and conditions of ground and it can be described by the trajectory of hip and ankles. All those trajectorys can be also obtained by the cubic spline functions and the way of modeling walking patterns. The results of simulator, the movement function of CG and ZMP, the cubic spline functions and modeling of biped robot were introduced in this paper. And the effectiveness of this simulator was confirmed by the simulations.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.675-683
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• 1992

Mapping and navigation system based on certainty grids for an autonomous mobile robt operating in unknown and unstructured environment is described. The system uses sonar range data to build a map of robot's surroundings. The range data from sonar sensor are integrated into a probability map that is composed of two dimensional grids which contain the probabilities of being occupied by the objects in the environment. A Bayesian model is used to estimate the uncertainty of the sensor information and to update the existing probability map with new range data. The resulting two dimensional map is used for path planning and navigation. In this paper, the Bayesian updating model which was successfully simulated in our earlier work is implemented on a mobile robot and is shown to be valid in the real world through experiment. This paper also proposes a technique for reducing for reducing specular reflection problem of sonar system which seriousely deteriorates the map quality, and a new path planning method based on weighted distance, which enables the robot to efficiently navigate in an unknown area.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2370-2378
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• 2015

This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge's phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which corresponds to the points and then we got trajectories of joint's angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Through the process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.8
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• pp.2126-2133
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• 2009

As expected that a robot-industry will grow up rapidly toward a huge market, many countries try to develop the official policies to support a robot-industry. Following this trend, many robot researches are proceeded in the various technical areas by the government-initiated R&D strategies in Korea. These R&D programs are archived by academic-industrial collaboration and furthermore, include the disseminated linkage of academic-industrial collaboration and the human resource development program which pursues the problem solving and technical training for companies suffered by several technical difficulties. This paper shows the several analyses and considerations of provisional results of these collaboration programs. First, each program of specialized plan for next generation is reviewed and the accomplishment of human resource development for robot research is evaluated. Finally, several considerations are represented for continuous and desirable expansion of these programs.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.817-822
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• 2004

This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.593-597
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• 1993

This paper introduces robust trajectory planner for obstacle and singularity avoidance in a nonresonant robot manipulator. In this work, we propose new trajectory generator in cartesian space by use of Bezier function. Also, SR-inverse is used for obstacle and singularity avoidance of nonredundant robot. This result is verified with 3-D simulator which has been developed to examine the effectiveness of the suggested method.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.3 s.180
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• pp.94-101
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• 2006

A global path planning method using self-organizing feature map which is a method among a number of neural network is presented. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector On the other hand, the modified method in this research uses a predetermined initial weight vectors of 1-dimensional string and 2-dimensional mesh, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.