• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.151-156
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• 2014

In this paper, we propose a position estimation method of an entertainment robot in a performance stage. A position information is needed to produce contents of an entertainment robot performance. First, the performance stage is realized by a CD (cadmium sulfide) sensor matrix with a constant distance. Then the proposed position estimation uses ON/OFF information of a CD sensor in a performance stage. We confirmed that the position of the robot is detected with an maximum 4cm in position evaluation experiments. The robot was traveling to the final target position in the walking experiment with 75cm and 120cm path plan. Ultimately, the effectiveness of the proposed estimation is assessed by experimental results of a robot in performance stage. Also, in the proposed system installed by a robot performance contents, there is no necessity to mount a position estimation device on a robot; therefore an advantage of our system is that an entertainment robot commercialized by robot vendor can be utilized in our performance stage directly.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.104.4-104
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• 2002

$\textbullet$ Contents 1 : PD control of an elastic joint robot $\textbullet$ Contents 2 Dynamic output feedback law without velocity measurements $\textbullet$ Contents 3 : Robust analysis for parameter uncertainties of the robot system $\textbullet$ Contents 4 : Simulation studies with a three joint robot system $\textbullet$ Contents 5 : Performance comparison with an another control law

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.190-196
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• 2016

This paper proposes a humanoid robot performance system for performing in public places, such as an event, exhibition, or street performance. The system of modular structures can be moved easily, and can be played by a module or a combination of modules. The system developed with open source-based software and hardware is easy to adapt and improve. The robot performance control program for controlling robots, displays, audios, videos, and performance instruments was developed using the open source language, Processing. The performance instruments were developed using the open source hardware, Arduino. The contents of the robot performance were composed of scene-specific image, background audio, computer graphics, and videos. For their control and synchronization, the performance control program communicates with the humanoid robots and the performance instruments. In addition, performance accessories required to represent the performance concepts are produced by 3D modeling and printing. In a public place, the robot performance is performed with the theme of celebrating a Halloween day.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.24-27
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• 2004

This paper describes the method how to control an autonomous robot remotely using Internet. The autonomous robot that has an artificial brain is called "Tarou". (1) It is able to move along the line on the floor based on processing the image data obtained from two CCD cameras. (2) It is able to understand dialogs between human being and it and is able to take actions such as turn right and lefts, go forward 1m and go backward 0.5m, etc. (3) It is able to recognize patterns of objects. (4) It is able to recognize human faces. (5) It is able to communicate human being and to speak according to contents written in the program. We show the techniques to control the autonomous robot "Tarou" remotely by personal computer and/or portable Phone via Internet. The techniques developed in our research could dramatically increase their performance for..the need of artificial life robot as the next generation robot and national homeland security needs.

• The Journal of the Korea Contents Association
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• v.9 no.2
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• pp.76-87
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• 2009

The growth of CPU and communication technologies have made an important contribution to the development of the network-based intelligent service robots. Robot software must guarantee the correct execution and safety of the user. To achieve this, it is highly required to research how to guarantee the QoS of the components which organize a robot software. The QoS of robot components aims to execute the component stably by processing the data stream in a correct way. By guaranteeing QoS, we can achieve the intelligence and stability of robots. In this paper, we design and implement the QoS framework to guarantee the QoS of robot components on robot platforms with limited resources. We also measure the response times of QoS requests and present the performance analysis results about it.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• The Journal of the Korea Contents Association
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• v.19 no.11
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• pp.507-515
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• 2019

The positive effects of 'robot actor' born in the age of artificial intelligence on the characteristics of theater (comprehensive, liveness, duality, planning) is due to the collaboration with 'robot' engineers, which increases the comprehensive. It is possible to respond to it, so that various reaction are maintained in every performance, and enhanced illusion can be provided in 'robot' material works in which 'robot actor' plays the role of 'robot'. However, the power focused on the director can reduce the comprehensiceness, the synthesis is reduced, and the 'robot actor' cannot perform the sweat or breath of 'human actor'. In itself, duality is incomplete. In addition, there is a high risk that the improvisation within the scope of planning is likely to occur as a sudden reaction, which may limit the postponement of the 'human actor'. Based on these findings, 'philosophy', 'science' and 'art' can predict the development of artificial intelligence side by side. It is considered necessary to study to redefine the direction and identity of arts and theater that should be moved forward.

• The Journal of the Korea Contents Association
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• v.9 no.12
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• pp.592-599
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• 2009

In this paper, I explain the design and implementation of an automated drawing system by communicating with a user. I made a system providing an UI for virtual environmental actual robot to interwork with environment to make a drawing that I was able to read work, and to help convenience of a user in computers. The UI of a system was used the AWT(Abstract Window Toolkit) in NetBean tools. To draw images, I got image information from SVG vector files. This system can make images according to the demand of users by using real-time communication. Also this kind of drawing process can be an artists performance, not only the final image as a result of the work. So I suggest that this real-time drawing process which is operated by user’s command can be considered as an artists performance.

• Journal of the Korean Society of Safety
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• v.38 no.3
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• pp.1-9
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• 2023

Most existing industrial robots have fences installed around them to ensure safety. However, industrial sites are recently being transformed into workspaces shared by both robots and humans working cooperatively, wherein the robots are without security fencing owing to the development of sensor technology. However, in the last five years (2017-2021), 16 deaths have occurred due to robots at industrial sites, with the main cause of the accidents being workers approaching an industrial robot in operation and getting entangled with or colliding into the robot and its peripherals. To prevent such accidents, multilateral research is needed. To this end, this study analyzes the nonconforming contents of safety inspections for industrial robots and demonstrates the safety performance of the safety function control system implemented in an industrial robot cell. In addition, to ensure the fundamental safety of industrial robots, this study proposes the introduction of a safety certification system so that safety functions can be implemented in the design, manufacturing, and installation stages of the robots.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.487-496
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• 2020

For the purpose of next generation technology for robot perfomances, a RAoRA (Robot Actor on Robot Arm) structure was proposed using a robot arm joined with a humanoid robot actor. Mechanical analysis, machine design and fabrication were performed for motions combined with the robot arm and the humanoid robot actor. Kinematical analysis for 3D model, spline interpolation of positions, motion control algorithm and control devices were developed for movements of the robot actor. Preliminary visualization, simulation tools and integrated operation of consoles were constructed for the non-professionals to produce intuitive and safe contents. Air walk was applied to test the developed platform. The air walk is a natural walk close to a floor or slow ascension to the air. The RAoRA also executed a performance with 5 minute-running time. Finally, the proposed platform of robot performance presented intensive and live motions which was impossible in conventional robot performances.