• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.15-21
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• 2004

A number of Humanoids are introduced including ASIMO, HRP-2 Promet, Johnniee, Babybot, and KHR-2. Most researches are focused on the development of stable biped walking of Humanoids and it is not easy to endow an Humanoid with intelligence and service technology until now in the sense that the operation time of a Humanoid is limited less than 30 minutes even in the case that the battery is used only for the control of actuators in a Humanoid. In this paper, a brief survey on Humanoids is proposed and the concept of 'Network-based Humanoid', a Humanoid being able to provide intelligence for human-friendly services using ubiquitous networks, is introduced briefly.

• The Magazine of the IEIE
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• v.32 no.1
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• pp.60-69
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• 2005

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.131-134
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• 2007

본 논문에서는 현재까지 나타난 휴머노이드 로봇의 문제점을 극복하고, 미래형 로봇의 발전방향인 "개방화", "네트워크화", "모듈화" 개념을 만족하는 새로운 구조를 설계하기 위한 인간 팔의 형태학적 신경학적 모델을 제시하고 이를 기반으로 한 휴머노이드 로봇 팔 설계 방법을 제시하였다.

• The Science & Technology
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• no.5 s.432
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• pp.74-79
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• 2005

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.4
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• pp.500-505
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• 2007

Current humanoid robot technology has a problem of lacking opened methodology about mechanisms of analysis, design, implementation, and integration for robot development but is focused only on manufacture robot and implementation of technology. In this paper, to overcome problems of humanoid robots that have been shown since and for construction of new structure which satisfy the concept of opening, networking, and modularization that is the development direction of future robot, we proposed morphological and neurological model of human arm and design method of humanoid robot arm based on the each joint design and kinematics model.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.117-120
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• 2007

본 논문에서는 휴머노이드 로봇에 적용 가능한, 미래형 로봇의 발진방향인 "개방화", "네트워크화", "모듈화" 개념을 만족하는 새고운 구조의 로봇 설계를 위해 인간의 신경학적 모델을 이용한 기법을 제시하고 이를 기반으로 한 로봇에 적용하기 위한 SERCOS 통신 기반의 로봇 팔에 대한의 내부 통신망 설계 방법을 제시하였다.

• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.705-713
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• 2009

This paper proposes CORBA-based visual servoing system of humanoid robot. To effectively control the humanoid robot which is connected to network, it needs to define necessary services for visual servoing as distribution object, and realize them in the middleware. For realizing it following services should be addressed. Naming service for searching a necessary service with unique name assigned to each object, image service for supplying image obtained from stereo camera. In the experiment, we show the result of balloon tracking and bursting that the robot tracks balloons as target objects in the real time, and if a balloon stop for a certain time, then the robot bursts the balloon.

• Journal of the Korea Computer Graphics Society
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• v.14 no.2
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• pp.35-41
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• 2008

H-Anim is an international standard that Humanoid Animation Working Group in Web3D Consortium defined the data structure necessary for human animation. Various libraries and tools have been generated according to the structure, but they still have restrictions to represent realistic humanoid motions. This paper presents the method of generating realistic human motion using motion capture data in order to define motion for humanoid animation based on H-Anim standard. In order to implement this, we have defined a data structure capable of receiving motion capture data and implemented a motion browser. The human motion data structure defined in this paper is based on X3D and intended to have compatibility through networks and various browsers.

• Journal of KIISE:Software and Applications
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• v.37 no.10
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• pp.779-787
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• 2010

Since robots have been used widely recently, research about human-robot communication is in process actively. Typically, natural language processing or gesture generation have been applied to human-robot interaction. However, existing methods for communication among robot and human have their limits in performing only static communication, thus the method for more natural and realistic interaction is required. In this paper, an emotional gesture based dialogue management system is proposed for sophisticated human-robot communication. The proposed system performs communication by using the Bayesian networks and pattern matching, and generates emotional gestures of robots in real-time while the user communicates with the robot. Through emotional gestures robot can communicate the user more efficiently also realistically. We used behavior networks as the gesture generation method to deal with dialogue situations which change dynamically. Finally, we designed a usability test to confirm the usefulness of the proposed system by comparing with the existing dialogue system.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.