• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

• Journal of the Korea Society of Computer and Information
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• v.23 no.1
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• pp.49-55
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• 2018

In this paper, we propose a design and development of instructional cards to understand the grammar of coding, solving the problems and extending the computational thinking in the robot-driven environment. First, we designed the input/output module of the robot to process the coding grammar through the function analysis of the robot. And we designed the module of command card to learn coding grammar using color sensors. We have proven the validity of the designed instruction card by examining the experts to see if it is suitable for coding grammar learning. Designed robot and command card were developed with 28 cards and sensor robot. After applying the developed robot and command card to the elementary school students, the questionnaire showed that students grow the understanding and confidence of coding. In addition, students showed an increased need for programming learning.

• Journal of The Korean Association of Information Education
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• v.11 no.2
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• pp.231-241
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• 2007

With a focus on LabView language to program Lego Mindstoms Robot in afterschool class to help children develop their special ability and aptitude. The purpose of this research was to make proposal for programming learning method using a robot as an algorithm learning tool to improve creative problem solving ability. To do this, robot programming training program in the amount of 30th period and teaching aids thereof were developed, and 6th grade primary school children were taught up to 30th period, then after, they were evaluated accordingly. Results from analysis of evaluation of achievement level with a focus on outcomes according to each period revealed that learners understood most of contents of curriculum. In view of such results from evaluation, it is judged that the curriculum as well as teaching aids that devised and created have been constituted in order that school children will be able to have developed a shared understanding of their learning sufficiently, and to put it into practice easily. Through these hands-on experiences in the course of researches, researcher could have confirmed the possibility of success for robot-programming training class as new creative algorithm learning tool in the primary school curriculum.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.619-624
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• 2014

This paper introduces a robot-based learning system which is designed to teach multiplication to children. In addition to a small humanoid and a smart device delivering educational content, we employ a type of mixed-initiative operation which provides enhanced multi-modal cognition to the r-learning system through human intervention. To investigate major factors that influence people's intention to use the r-learning system and to see how the multi-modality affects the connections, we performed a user study based on TAM (Technology Acceptance Model). The results support the fact that the quality of the system and the natural interaction are key factors for the r-learning system to be used, and they also reveal very interesting implications related to the human behaviors.

• Journal of Digital Contents Society
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• v.18 no.8
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• pp.1501-1507
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• 2017

Telepresence in robot assisted learning has preferred low-height, shorter than life-size robotic platforms for reasons such as operational stability, user convenience and psychological comfort in human robot interaction. If, however, the reason for using a telepresence robot is to display the authority of a social superior to a social inferior, one can hypothesize that a robotic platform which reflects real-life height advantage would be better suited for the stated purpose than conventional low-height platforms. In order to test the hypothesis, we examined whether the height of the robot had an effect on an instructor connected to a telepresence robot in robot-assisted learning with regard to controlling a large number of elementary school students. The pre-and post experiment demonstrates that the use of a life-size telepresence robot, compared to a child-size telepresence robot, failed to make a meaningful difference in the instructors' authority being accepted by the students. However, behavioral measures shows that a taller robot has more merits in controlling students.

• 전자공학회논문지 IE
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• v.44 no.3
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• pp.35-41
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• 2007

In this paper we suggest a model that the virtual robot based on artificial intelligence performs learning with compensation signals and compare the leaning speed of the virtual robot according to the compensation method after applying it to three type environments. As a result our model has showed that positive compensation is superior to hybrid one mixed positive and negative if there are enough time for learning in case of more or less complicated environment with the numerous foods, obstacles and robots. Otherwise hybrid method is better than positive one.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.697-702
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• 1994

This paper illustrates a new learning control for robot manipulators using Lyapunov direct method. It has been shown that under the proposed learning control robot manipulators are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude.

• Journal of the Korea Society for Simulation
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• v.17 no.4
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• pp.249-257
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• 2008

This paper shows the Applied Q-learning Algorithm which supports selecting the waiting position of a robot and the part serviced next in the Flexible Manufacturing Cell (FMC) that consists of one robot and various types of facilities. To verify the performance of the suggested algorithm, we design the general FMC made up of single transfer robot and multiple machines with a simulation method, and then compare the output with other control methods. As a result of the analysis, the algorithm we use improve the average processing time and total throughputs as well by increasing robot utilization, reversely, by decreasing robot waiting time. Furthermore, because of ease of use compared with other complex ways and its adoptability to real world, we expect that this method contribute to advance total FMC efficiency as well.

• Journal of the Korea Society of Computer and Information
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• v.17 no.4
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• pp.19-29
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• 2012

According to the result of PISA and TIMSS, it was reported that interest for Math and Science was far lower compared to high achievement of Them. The purpose of this study is to investigate effects of robot based STEAM education on elementary school students' Math learning behavior and Science motivation. Robot based STEAM education integrated science, mathematics and art with a theme of 'Energy' was practiced for test group and For control group, those three subjects were taught separately in order to achieve this purpose. Curriculum of fourth grade second semester's science, mathematics and art was analysed to teach a robot based STEAM class and STEAM class Model with the theme 'Energy was designed and applied to elementary students. In science class, heat transfer experiment was conducted with robots and the result was related to drawing polygonal lines in mathematics. In art class, robot components were used to describe the heat energy in shapes and colors. The research shows that students' Math learning behavior and Science motivation were improved more with robot based STEAM education than with traditional lessons(p<.05). It proves that robot based STEAM class can be effective for improving interest in elementary Math and Science.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.225-232
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• 2023

With the recent increase of multiple robots cooperating in smart manufacturing logistics environments, it has become very important how to predict the safety and efficiency of the individual tasks and dynamically assign them to the best one of available robots. In this paper, we propose a novel task policy learner based on deep relational reinforcement learning for predicting the safety and efficiency of tasks in a multi-robot manufacturing logistics environment. To reduce learning complexity, the proposed system divides the entire safety/efficiency prediction process into two distinct steps: the policy parameter estimation and the rule-based policy inference. It also makes full use of domain-specific knowledge for policy rule learning. Through experiments conducted with virtual dynamic manufacturing logistics environments using NVIDIA's Isaac simulator, we show the effectiveness and superiority of the proposed system.