• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.78-84
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• 2009

When external force is applied to humanoid robot's head, humanoid robot's neck is rotated to prevent the damage of it. So, robot's neck have to perceive forces (Fx of x-direction, Fy of y-direction and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of z-direction) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot's head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot's head.

• The KIPS Transactions:PartA
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• v.19A no.1
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• pp.1-8
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• 2012

Network-based intelligent robot is connected with network system, provides interactions with humans, and carries out its own roles on ubiquitous computing environments. URC (Ubiquitous Robot Companion) robot has been proposed to develop network-based robot by applying distributed computing techniques. On URC robot, it is possible to save the computing power of robot client by environments, has been proposed to develop robot software using service-oriented architecture on server-client computing environments. The SOMAR client robot consists of two layers - device service layer and robot service layer. The device service controls physical devices, and the robot service abstracts robot's services, which are newly defined and generated by combining many device services. RSEL (Robot Service Executing Language) is defined in this paper to represent relations and connections between device services and robot services. A RESL document, including robot services by combining several device services, is translated to a programming language for robot client system using RSEL translator, then the translated source program is compiled and uploaded to robot client system with RPC (Remote Procedure Call) command. A SOMAR client system is easy to be applied to embedded systems of host/target architecture. Moreover it is possible to produce a light-weight URC client robot by reducing workload of RSEL processing engine.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.4
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• pp.85-90
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• 2001

Recently there are lots of concerning on robot agent system working for itself with the trends of the research of bio-mimetic system and intelligent Therefore it is necessary to develop more humanized interface system from communicating with the robot agent. In this paper a virtual 3D interface system is proposed based on Internet for remote controlling and monitoring of robot agent. The proposed system is constructed as manager-agent model and a man can order a job at the 3D virtual interface environment of the manager located remotely Then the robot agent detects a 3D profile data from a range finder automatically and the robot moves the object to the new position in real space. The proposed system supports a advanced interface displaying virtual 3D graphics and real moving images and which makes it possible one to manage the robot agent more conveniently.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.23 no.6
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• pp.89-95
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• 2023

In recent decades, human action recognition (HAR) has demonstrated potential applications in sports analysis, human-robot interaction, and large-scale signage content. In this paper, spatial temporal attention graph convolutional network (STAGCN)-based HAR system is proposed. Spatioal-temmporal features of skeleton sequences are assigned different weights by STAGCN, enabling the consideration of key joints and viewpoints. From simulation results, it has been shown that the performance of the proposed model can be improved in terms of classification accuracy in the NTU RGB+D dataset.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.610-616
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• 2004

In the research of biomechanical engineering, robotics and neurophysiology, to clarify the mechanism of human bipedal walking is of major interest. It serves as a basis of developing several applications such as rehabilitation tools and humanoid robots. Nevertheless, because of complexity of the neuronal system that interacts with the body dynamics system to make walking movements, much is left unknown about the details of locomotion mechanism. Researchers were looking for the optimal model of the neuronal system by trials and errors. In this paper, we applied Genetic Programming to induce the model of the nervous system automatically and showed its effectiveness by simulating a human bipedal walking with the obtained model.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.188-196
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• 2006

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate human-like arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.347-354
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• 2006

본 작품은 고령자에게 생활의 도움을 주면서 감성적으로 인간 친화적 역할을 수행하는 것을 목적으로 제작한 로봇이다. 고령화 사회 속에서 혼자 사는 노인들이 증가하는 사회현상을 바탕으로 노인의 노화로 인한 신체적 약점들 중 가장 많이 눈에 띄고 보편적인 증상을 일상 속에서 보완해 줄 수 있는 로봇을 개발하는데 중점을 두었다. 단순히 기능적인 편리성뿐 만 아니라 시각적으로 노인에게 즐거움을 주고 위안을 줄 수 있는 친근한 로봇은 노인이 생활하는데 큰 활력소가 될 것이다.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.05a
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• pp.512-515
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• 2008

최근 인터넷과 정보통신 기술의 개발로 사회의 가치관, 문화 및 생활 방식이 급속하게 변화되고 있다. 로봇 분야의 경우, 공장에서 사람의 접근이 통제된 지역에 설치되어 인간을 대신해서 반목작업이나 힘든 작업을 대신해 주던 것에서 오늘날은 일반인들이 일상생활 속에서 손쉽게 활용할 수 있도록 로봇을 하나의 가전기기 혹은 개인용 상품으로 개발하기 위한 노력이 전 세계적으로 활발히 진행되고 있다. 본 논문에서는 실시간 객체인 TMO를 통해서 내장형 시스템 기반의 로봇을 화상통신을 이용하여 실시간으로 원격 제어하는 방안을 제시코자 한다.

• Journal of Cadastre & Land InformatiX
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• v.53 no.1
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• pp.83-105
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• 2023

A robot-friendly building certification system was established in 2022 to accommodate the growing number of service robots introduced into buildings. However, this system primarily targeted office buildings, with limitations in applying other functional architectures. To address this problem, we developed a certification model of a robot-friendly environment to extend the existing system to apartment complexes. Using focus group interviews and the analytic hierarchy process, we established 28 evaluating items categorized as (a) architecture and facility design, (b) networks and systems, (c) building operations management, and (d) support for robot activity and other services. These indicators were weighted based on their relative importance within and between categories, resulting in scores ranging from 1 to 18 points and a total of 176 points. According to evaluations with the 28 items, each apartment complex could be graded as "best," "excellent," or "general" based on its total achieved scores. This study is significant, as we present the world's first certification model of a robot-friendly environment for apartment complexes that considers human-robot interactions