• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.735-742
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• 2007

The importance of the interaction capability of a robot increases as the application of a robot is extended to a human's daily life. In this paper, a portable mediate interface Handybot is developed with various interaction channels to be used with an intelligent home service robot. The Handybot has a task-oriented channel of an icon language as well as a verbal interface. It also has an emotional interaction channel that recognizes a user's emotional state from facial expression and speech, transmits that state to the robot, and expresses the robot's emotional state to the user. It is expected that the Handybot will reduce spatial problems that may exist in human-robot interactions, propose a new interaction method, and help creating rich and continuous interactions between human users and robots.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.210-217
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• 2010

This paper presents integrated path planning and collision avoidance for an omni-directional mobile robot. In this scheme, the autonomous mobile robot finds the shortest path by the descendent gradient of a navigation function to reach a goal. In doing so, the robot based on the proposed approach attempts to overcome some of the typical problems that may pose to the conventional robot navigation. In particular, this paper presents a set of analysis for an omni-directional mobile robot to avoid trapped situations for two representative scenarios: 1) Ushaped deep narrow obstacle and 2) narrow passage problem between two obstacles. The proposed navigation scheme eliminates the nonfeasible area for the two cases by the help of the descendent gradient of the navigation function and the characteristics of an omni-directional mobile robot. The simulation results show that the proposed navigation scheme can effectively construct a path-planning system in the capability of reaching a goal and avoiding obstacles despite possible trapped situations under uncertain world knowledge.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.599-605
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• 2014

This paper presents the interactive behavior modeling method based on POMDP (Partially Observable Markov Decision Process) for HRI (Human-Robot Interaction). HRI seems similar to conversational interaction in point of interaction between human and a robot. The POMDP has been popularly used in conversational interaction system. The POMDP can efficiently handle uncertainty of observable variables in conversational interaction system. In this paper, the input variables of the proposed conversational HRI system in POMDP are the input information of sensors and the log of used service. The output variables of system are the name of robot behaviors. The robot behavior presents the motion occurred from LED, LCD, Motor, sound. The suggested conversational POMDP-based HRI system was applied to an emotional robot KIBOT. In the result of human-KIBOT interaction, this system shows the flexible robot behavior in real world.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.156-160
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• 2008

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.233-238
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• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.221-224
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• 2005

This paper proposes the system model that is more efficient and active than formal home automation system and it can conquer the limits of formal one using intelligent mobile robot. This system uses specialized intelligent mobile robot for home environment and the robot moves around home instead of human. We call the system model to HAuPIRS (Home Automation system using PDA based Intelligent Robot System). HAuPIRS control architecture is composed three parts and each part is User Level, Cognitive Level, Executive Level. It is easy to use system and possible to extend the home apparatusfrom new technology. We made the PBMoRo System (PDA Based Mobile Robot System) based on HAuPIRS architecture and verified the efficiency of the system model.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.964-970
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• 2014

In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people's everyday life as a robot's dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot's finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human's hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot's power transmission part. Reduction of weight of robot's power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.428-433
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• 1993

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We use the view-time concept, especially the adaptive view-time. First. we introduce the adaptive view-time and analyze its properties. Next, we propose a view-time based motion planning method. The proposed method is applied and simulated for the collision-free motion planning of a 2 DOF robot manipulator. We simulate the robot motion under several different view-time systems. Generally, the motion planning with the adaptive view-time systems has some advantages over that with the fixed view-time systems.