• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.849-857
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• 2015

Although human-sized bipedal humanoid robots have been developed as the ideal form of human-friendly robots, studies of humanoid robots from the user perspective and of actual interaction between humanoid robots and the public in daily environments are few. This paper presents a long-term public demonstration that encouraged interaction between a humanoid robot and unspecified individuals. We have collected a significant amount of subjective evaluation data from the public by performing a storytelling demonstration that enhanced people's empathy towards the robot. The evaluation model consists of the robot's human friendliness, which involves its impression on humans, interaction with humans, and imitation of human motions and the robot's human appearance which involves gender, age, height, and body type. This study shows that there is no significant difference in human-friendliness between gender groups (male and female), while there is a significant difference between age groups (children and adults). In human appearance, it appears that there is no significant difference between either gender groups or age groups, except for the case of the robot's height.

• Journal of Cadastre & Land InformatiX
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• v.52 no.2
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• pp.17-34
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• 2022

With rapid advancements taking place in the Fourth Industrial Revolution, human-robot interactions have been garnering increasing attention. Robots are being actively adopted in building systems and facilities. In this study, we developed robot-friendly building certification indicators. Because these indicators were being developed for the first time, we focused only on commercial buildings. We conducted exploratory research using methodologies such as focus group interviews and the analytic hierarchy process. First, the concept of the robot-friendly building was defined through focus group interviews, and the requirements were categorized by the appropriateness of operating facilities and systems and the appropriateness of architectural and robot operating systems and networks. Next, the relative importance of the evaluation items (23 items in total) was calculated using the analytic hierarchy process. Their average score of the marks was 4.4, and the minimum and maximum were 2.0 and 11.3, respectively. This study is significant because we collected the basic data necessary to develop a one-of-its-kind evaluation system for certifying the robot-friendliness of buildings using scientific methods.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• Journal of Korean Institute of Industrial Engineers
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• v.38 no.2
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• pp.133-143
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• 2012

The study on social robots has been actively conducted in the robot research community. In the area of robot design, however, there are few studies regarding robot motions that are one of the methods for interaction between humans and robots. This is a preliminary study to find preferred human motions that can be applied to social robots. We conducted a two-phased empirical study about preferred human motions. In the first phase, four representative human motions, such as 'greeting', 'I don't know', 'positive answer', and 'giving', were captured through 28 body makers and video recording. 10 young and 6 elderly Singaporeans participated in the motion capture process. In the second phase, the communication efficiency, emotion, and satisfaction of the human motions recorded in the first phase were measured by a questionnaire and 31 young Koreans, 35 young Singaporeans participated to investigate cultural differences. We drew the conclusion that motions used in the same culture are efficient in communication and also give friendliness and satisfaction. In addition, regardless of user's culture, young people's motions and female motions were preferred in terms of communication efficiency, emotional aspect, satisfaction.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.1-147
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• 2001

Future robots, especially service and personal robots, will need much more intelligence, robustness and user-friendliness. The ability to learn contributes to these characteristics and is, therefore, becoming more and more important. Three of the numerous varieties of learning are discussed together with results of real-world experiments with three autonomous robots: (1) the acquisition of map knowledge by a mobile robot, allowing it to navigate in a network of corridors, (2) the acquisition of motion control knowledge by a calibration-free manipulator, allowing it to gain task-related experience and improve its manipulation skills while it is working, and (3) the ability to learn how to perform service tasks ...

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.331-339
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• 2016

This paper developed a home wellness robot platform to perform the roles in basic health care and life care in an aging society. A robotic platform and a sensory platform were implemented for an indoor wellness service. In the robotic platform, the precise mobility and the dexterous manipulation are not only developed in a symbiotic service-robot, but they also ensure the robot architecture of human friendliness. The mobile robot was made in the agile system, which consists of Omni-wheels. The manipulator was made in the anthropomorphic system to carry out dexterous handwork. In the sensing platform, RF tags and stereo camera were used for self and target localization. They were processed independently and cooperatively for accurate position and posture. The wellness robot platform was integrated in a real-time system. Finally, its good performance was confirmed through live indoor tests for health and life care.

• 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

• Design & Manufacturing
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• v.15 no.1
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• pp.57-65
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• 2021

Pump cap is a product that is widely used due to its ease of use and simple operation. These pump caps are applied to heterogeneous functional cosmetics and are being developed as dual pump caps. However, the conventional dual pump cap has a problem in that it is inconvenient to use and leakage occurs. In addition, it is formed of a plurality of materials, and there is a problem that is difficult to recycle. Lately, since the problem of environmental pollution is getting serious, the dual pump cap, which is difficult to recycle, cannot be used. Currently, eco-friendliness has been considered in Korea, and there are no dual pump cap containers with excellent sealing performance. Therefore, in this study, a dual pump cap container made of eco-friendly material was designed. In addition, finite element analysis was performed to verify the design feasibility of the product.

• Resources Recycling
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• v.31 no.4
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• pp.3-11
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• 2022

Owing to the increasing demand for electric vehicles (EVs), appropriate management of their waste batteries is required urgently for scrapped vehicles or for addressing battery aging. With respect to technological developments, data-driven diagnosis of waste EV batteries and management technologies have drawn increasing attention. Moreover, robot-based automatic dismantling technologies, which are seemingly interesting, require industrial verifications and linkages with future battery-related database systems. Among these, it is critical to develop and disseminate various advanced battery diagnosis and assessment techniques to improve the efficiency and safety/environment of the recirculation of waste batteries. Incorporation of lithium-related chemical substances in the public pollutant release and transfer register (PRTR) database as well as in-depth risk assessment of gas emissions in waste EV battery combustion and their relevant fire safety are some of the necessary steps. Further research and development thus are needed for optimizing the lifecycle management of waste batteries from various aspects related to data-based diagnosis/classification/disassembly processes as well as reuse/recycling and final disposal. The idea here is that the data should contribute to clean design and manufacturing to reduce the environmental burden and facilitate reuse/recycling in future production of EV batteries. Such optimization should also consider the future technological and market trends.