• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.369-370
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• 2009

Robot이 음악에 맞춰 어떤 행동을 하기 위해선 먼저 Acoustic을 이해 할 수 있는 인지 능력이 필요하며 인지한 음악적 내용을 Dance Motion에 가깝게 Action을 표현할 수 있어야 한다. 본 논문에서는 신호처리와 기계학습을 사용하여 음악의 Tempo를 Tracking하고 이것을 참고하여 행동 Pattern을 결정하는 Dance Robot System을 소개한다.

• Journal of Platform Technology
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• v.6 no.3
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• pp.23-30
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• 2018

A motion pattern generation is a process of calculating a certain stable motion trajectory for stably operating a certain motion. A motion control is to make a posture of a robot stable by eliminating occurring disturbances while a robot is in operation using a pre-generated motion pattern. In this paper, a general method of motion pattern generation for a biped walking robot using universal approximator, learning neural networks, is proposed. Existing techniques are numerical methods using recursive computation and approximating methods which generate an approximation of a motion pattern by simplifying a robot's upper body structure. In near future other approaches for the motion pattern generations will be applied and compared as to be done.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.885-888
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• 2005

본 논문에서는 카메라가 장착된 2 족 보행 로봇을 이용한 얼굴 검출 및 추적 시스템을 제안한다. 제안된 시스템은 PCA(Principal Component Analysis) 기반의 시스템으로서 얼굴을 검출하기 위해 먼저, 스킨칼라 정보와 모션 정보를 사용하고, 그 이후에 PCA 를 사용하여 스킨칼라 영역에서 실제 얼굴이 있는지를 검증 한다. 새로 검출된 얼굴과 이전에 추적되는 얼굴 사이의 동일성은 Eigenspace 상에서의 Euclidian distance 를 사용하여 검증한다. 2 족 보행 로봇이 얼굴을 추적하기 위해서는, 검출된 얼굴 영역이 카메라 스크린 중심 영역에 계속 유지되도록 로봇의 움직임을 조절해 간다. 제안된 시스템은 움직임이 많고, 조명 변화나 배경의 변화가 심한 환경에서도, 얼굴을 잘 검출하고 추적 하였으며, 다른 2 족 보행 시스템이나 인간과 로봇의 상호작용을 위한 제스처 인식 시스템으로의 확장도 가능하다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.3
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• pp.35-41
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• 2010

In this paper, an Android based ubiquitous interface for controlling service robots is presented. The robot server captures the images for the front view of the robot, makes a map of the environment and its position, produces a graphic image of its pose, and then transmits them to the Android client. The Android client displays them in the LCD panel and transfers control information obtained from touched buttons to the server. In the interface environment, we implement remote moving mode, autonomous moving mode, and remote operation mode for being used for versatile operability to the robot with limited screen of the smart phone. Experimental results show the implementation of the proposed interface in Android installed on Motoroi to control a service robot, and demonstrate its feasibility.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.167-168
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.395-396
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.397-398
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.179-180
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• 2006

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.311-312
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• 2011

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.6
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• pp.585-592
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• 2014

In this study, a multibody simulator was developed to analyze the bio-mimetic motion of a lizard robot design. A RecurDyn multibody dynamics model of a lizard was created using a micro-computerized tomography scan and motion capture data. The bio-mimetic motion simulator consisted of a trajectory generator, an inverse kinematics module, and an inverse dynamics module, which were used for various walking motion analyses of the developed lizard model. The trajectory generation module produces spinal movements and gait trajectories based on the lizard's speed. Using the joint angle history from an inverse kinematic analysis, an inverse dynamic analysis can be carried out, and the required joint torques can be obtained for the lizard robot design. In order to investigate the effectiveness of the developed simulator, the required joint torques of the model were calculated using the simulator.