• Journal of IKEEE
• /
• v.15 no.3
• /
• pp.227-234
• /
• 2011

The Interest in robotics has been steadily increasing in recent times both in Korea as well as abroad. Research on robots for new and diverse fields is ongoing. This study discusses the current research and development on robot actuator, which are used to control the joints of robots, and focuses on developing more efficient technology for joint control, as compared with the current technologies. It also aims to find means to apply the abovementioned technology to diverse industrial fields. We found that easy and effective control of actuators could be achieved by using ZigBee sensor networks, which were widely being used on wireless communications. Throughout the experiments it is proved that the developed wireless actuator could be used for easy control of various robot joints. This technology can be effectively applied to develop two-legged robots that will be able to walk like human, or even quadruped and hexapod robots. It can also be applied to motors used in industry. In this study, we develop an extremely minimized ZigBee sensor network module that can be used to control various servo motors with low power consumption even if it is long distances. We realized effective wireless control by optimizing the ZigBee antenna, and were able to quickly check the status of relevant Tree node through mutual communication between the servo motors composing the ZigBee sensor network and the main server control modules. The developed Servo Motor with ZigBee sensor network modules can be applied in both robotics as well as for home or factory automation.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.17 no.5
• /
• pp.712-717
• /
• 2007

Using home network system including home server, home service robot, a variety of device, it is generally known that application of Multi Agent System for performing variously distributed process that can be occur in home environment, is efficient method. In this system, it is intelligent service robot that a key of human interface and physical service offer Therefore, using application of established multi agent system, we can defined Multi Agent Robot System. In 'open' home environment, between all agent data interaction and cooperation are needed for Multi Agent System offer to user that more efficient service. For this, we focus our attention on define as agent that can autonomic drive and offer to user that physical service robots and, design, suggest the simulator can display that between robot agents communication or between other agents, like home server, and robot agents communication information to user interface.

• The Journal of Korea Robotics Society
• /
• v.3 no.4
• /
• pp.300-307
• /
• 2008

This paper is concerned with face recognition for human-robot interaction (HRI) in robot environments. For this purpose, we use Tensor Subspace Analysis (TSA) to recognize the user's face through robot camera when robot performs various services in home environments. Thus, the spatial correlation between the pixels in an image can be naturally characterized by TSA. Here we utilizes face database collected in u-robot test bed environments in ETRI. The presented method can be used as a core technique in conjunction with HRI that can naturally interact between human and robots in home robot applications. The experimental results on face database revealed that the presented method showed a good performance in comparison with the well-known methods such as Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) in distant-varying environments.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.1039-1044
• /
• 2005

This paper presents a robotic agent design and application in the ubiquitous intelligent space. We set up an experimental environment with Bluetooth host, Bluetooth client, furniture and home appliance, and robotic agents. First, the agents basically performed patrol guard to detect unexpected penetration, and to keep home safely from gas-leakage, electric leakage, and so on. They were out to patrol fur a robbery while navigating in a living room and a private room. In this task, we used an area-based action making and a hexagon-based Q-learning to control the agents. Second, the agents communicate with Bluetooth host device to access and control a home appliance. The Bluetooth host offers a manual control to person by inquiring a client robot when one would like to check some place especially. In this exercise, we organize asynchronous connection less (ACL) between the host and the client robots and control the robot maneuver by Bluetooth host controller interface (HCI).

• The Journal of Korea Robotics Society
• /
• v.3 no.1
• /
• pp.23-32
• /
• 2008

This paper presents a task planning system for a steward robot, which has been developed as an interactive intermediate agent between an end-user and a complex smart home environment called the ISH (Intelligent Sweet Home) at KAIST (Korea Advanced Institute of Science and Technology). The ISH is a large-scale robotic environment with various assistive robots and home appliances for independent living of the elderly and the people with disabilities. In particular, as an approach for achieving human-friendly human-robot interaction, we aim at 'simplification of task commands' by the user. In this sense, a task planning system has been proposed to generate a sequence of actions effectively for coordinating subtasks of the target subsystems from the given high-level task command. Basically, the task planning is performed under the framework of STRIPS (Stanford Research Institute Problem Solver) representation and the split planning method. In addition, we applied a state-partitioning technique to the backward split planning method to reduce computational time. By analyzing the obtained graph, the planning system decomposes an original planning problem into several independent sub-problems, and then, the planning system generates a proper sequence of actions. To show the effectiveness of the proposed system, we deal with a scenario of a planning problem in the ISH.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.31 no.4
• /
• pp.517-524
• /
• 2007

This paper presents a global localization method using circular correlation of an omni-directional image. The localization of a mobile robot, especially in indoor conditions, is a key component in the development of useful service robots. Though stereo vision is widely used for localization, its performance is limited due to computational complexity and its narrow view angle. To compensate for these shortcomings, we utilize a single omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Nodes around a robot are extracted by the correlation coefficients of CHL (Circular Horizontal Line) between the landmark and the current captured image. After finding possible near nodes, the robot moves to the nearest node based on the correlation values and the positions of these nodes. To accelerate computation, correlation values are calculated based on Fast Fourier Transforms. Experimental results and performance in a real home environment have shown the feasibility of the method.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.843-848
• /
• 2007

Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.

• The Journal of Korea Robotics Society
• /
• v.9 no.4
• /
• pp.264-271
• /
• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.215-220
• /
• 2005

Nowadays, various speech processing systems are being introduced in the fields of robotics. However, real-time processing and high performances are required to properly implement speech processing system for the autonomous robots. Achieving these goals requires advanced hardware techniques including intelligent software algorithms. For example, we need nonlinear amplifier boards which are able to adjust the compression radio (CR) via computer programming. And the necessity for noise reduction, double-buffering on EPLD (Erasable programmable logic device), simultaneous multi-channel AD conversion, distant sound localization will be explained in this paper. These ideas can be used to improve distant and omni-directional speech recognition. This speech processing system, based on embedded Linux system, is supposed to be mounted on the new home service robot, which is being developed at KIST (Korea Institute of Science and Technology)

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.10a
• /
• pp.224-228
• /
• 1997

Computer vision system become more important as the researches on inspection systems, intelligent robots , diagnostic medical systems is performed actively. In this paper, 3D measuring system is developed by using stereo vision. The relation between left image and right image is obtained by using 8 point algorithm, and fundamental matrix, epipole and 3D reconstruction algorithm are used to measure 3D dimensions. 3D measuring system was developed by Visual Basic, in which 3D coordinates would be obtained by simple mouse clicks. This software would be applied to construction area, home interior system, rapid measuring system.