• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.399-405
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• 2008

Recently, robot technology is actively going on progress to the field of various services such as home care, medical care, entertainment, and etc. Because these service robots are in use nearby person, they need to be operated safely even though hardware and software faults occur. This paper proposes a Fault-Tolerant middleware for a robot system, which has following two characteristics: supporting of heterogeneous network interface and processing of software components and network faults. The Fault-Tolerant middleware consists of a Service Layer(SL), a Network Adaptation Layer(NAL), a Network Interface Layer(NIL), a Operating System ion Layer(OSAL), and a Fault-Tolerant Manager(FTM). Especially, the Fault-Tolerant Manager consists of 4 components: Monitor, Fault Detector, Fault Notifier, and Fault Recover to detect and recover the faults effectively. This paper implements and tests the proposed middleware. Some experiment results show that the proposed Fault-Tolerant middleware is working well.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.261-266
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• 2004

Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.489-494
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• 2002

Recently, A robot which accomplish many tasks is the universality in fixed environment. But home robot or entertainment robots has interested greatly, and the concept of service robots is outstanding newly. In special, research about the self-steering robot is increasing gradually. Also Internet has become general, many information devices and tools were connected with internet. According to such a trend, we developed the mobile robot that moves by self-localization and is controlled in the basis of internet. Our robot system will assist office workers. In this paper, we introduce mechanical feature, control system and service faculty of robot, MAIRO in an office environment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.855-858
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• 2003

The trends of recent developed a pet robot which interacts with people are increased gradually. There are a few pet robots that are a robot dog, robot cat, and robot fish. The pet robot is featured that it is possible to sympathize and give pleasure to human. The pet robots express delight, sorrow, surprise, and hunger through the artificial intelligence. Previously, the pet robot has to exchange the battery when it is exhausted. Commercialized robots have a self-recharging function, which express hunger. Robot dog AIBO, SONY in Japan, checks the battery for expressing hunger. They find an energy station for recharge. While operation time of AIBO is 1 hour 30 minutes, recharging time is 2 hours. Recharging time is longer than operation time. During the recharge, they don't operate. We obtain a motivation for eating the battery when find the problem. In this paper, introduce an Autonomous Eating Pet Robot and propose a design for realization. The Autonomous Eating Pet Robot has a function that is the most basic instinct that is finding a food and evacuating.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.163-169
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• 2019

Robot ALICE@ERICA is a service robot developed to receive donations and to provide information services. ALICE@ERICA stands for Artificial Learning Intelligence robot for Culture and Entertainment at ERICA. In order to achieve the specific purpose of receiving donations, proper appearance design, appropriate movement and good communication skills are required in terms of HRI. In this paper, we introduce three strategies for developing robots to receive donations effectively. The first is to design a robot that makes people feel intimacy, the second is to approach only one of several people as a donor, and finally the donor communicates with video contents and voice recognition. A survey was conducted on the person who showed the reaction after the robot donated money in public places. Based on the survey results, it is proved that the method presented in this study effectively contributed to fund raising. If robots can perform actions that require high level of HRI, such as donation, robots can contribute more to human society. We hope that this study contributes to the improvement of human happiness.

• Journal of Korea Entertainment Industry Association
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• v.8 no.2
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• pp.283-297
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• 2014

The future of human life is expected to be innovative by increasing social, economic, political and personal, including all areas of life across the multi-disciplinary skills. Particularly, in the field of robotics and next-generation games with robots, by multidisciplinary contributions and interaction, convergence between technology is expected to accelerate more and more. The purpose of this study is that by new interface model beyond the technical limitations of the "human-robot interface technology," until now and time and spatial constraints and through fusion of various modalities which existing human-robot interface technologies can't have, the research of more reliable and easy free "human-robot interface technology". This is the research of robot game system which develop and utilizing real time synchronization engine linking between biped humanoid robot and the behavior of the position value of mobile device screen's 3D content (contents), robot (virtual robots), the wireless protocol for sending and receiving (Protocol) mutual information and development of a teaching program of "Direct Teaching & Play" by the study for effective teaching.

• Proceedings of the Korea Contents Association Conference
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• 2006.11a
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• pp.80-83
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• 2006

Nowadays, the more complicated the society become, the more spreaded individualism is. Moreover, since a number of old people living alone are increasing, human friendly robots for home entertainments are required. Conventional home robots having same behavior for a user's order can't give us funny. In this paper, a robot system based on emotion model for home entertainments is proposed. The proposed system has various behavior for a same order depending on the emotional state such as happy, angry, lovely and joyful grades.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.74-79
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• 2019

In this paper, we develop a virtual experimental environment to investigate users' eye gaze in human-robot social interaction, and verify it's potential for further studies. The system consists of a 3D robot character capable of hosting simple interactions with a user, and a gaze processing module recording which body part of the robot character, such as eyes, mouth or arms, the user is looking at, regardless of whether the robot is stationary or moving. To verify that the results acquired on this virtual environment are aligned with those of physically existing robots, we performed robot-guided quiz sessions with 120 participants and compared the participants' gaze patterns with those in previous works. The results included the followings. First, when interacting with the robot character, the user's gaze pattern showed similar statistics as the conversations between humans. Second, an animated mouth of the robot character received longer attention compared to the stationary one. Third, nonverbal interactions such as leakage cues were also effective in the interaction with the robot character, and the correct answer ratios of the cued groups were higher. Finally, gender differences in the users' gaze were observed, especially in the frequency of the mutual gaze.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.720-725
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• 2004

Robot systems have applied to manufacturing or industrial field for reducing the need for human presence in dangerous and/or repetitive tasks. However, robot applications are transformed from industrial field to human life in recent tendency Nowadays, final goal of robot is to make a intelligent robot that can understand what human say and learn by itself and have internal emotion. For example Home service robots are able to provice functions such as security, housework, entertainment, education and secretary To provide various functions, home robots need to recognize human`s requirement and environment, and it is indispensable to use artificial intelligence technology for implementation of home robots. In this paper, implemented robot system takes data from several sensors and fuses the data to recognize environment information. Also, it can select a proper behavior for environment using soft computing method. Each behavior is composed with intuitive motion and sound in order to let human realize robot behavior well.