• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.1
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• pp.3-8
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• 2011

This paper introduces a robot eye module, of which two degree-of-freedom motions, i.e. panning and tilting, are driven by a pair of wires. The main feature of the module is that each wire can generate push-pull motion without buckling. It is thanks to a Teflon tube which guides the path of the moving wire. End points of the tube and wire have pivot elements so that a smooth push-pull motion is produced even when the end point of wire is moved by eye rotation. This mechanism helps the eye module to be very compact. In this paper, the structure of the robot eye module is introduced in detail, and the required motor angles for a certain direction of eye line are investigated analytically and experimentally.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.6
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• pp.535-541
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• 2014

In this research, three degree-of-freedom parallel spherical robot is developed for an artificial eyeball. The proposed system is comprised of a moving and a base plate, three prismatic actuators, and a ball joint for an angular movement of the moving plate. The vector analysis is employed to investigate the relationship between positions of the actuators and a pose of the moving plate. The required ranges for every actuators are calculated using the derived inverse kinematics in regard to the combination of two different levels for the size of the system component. Then the size of every components is determined from the analyzed trend. PI controller is employed for the position control of the moving plate. Finally the proposed system is verified using an arbitrary path of the angular movement.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.05a
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• pp.246-247
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• 2010

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1333-1337
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• 1987

본 연구는 머리운동 제어 시스템에 대한 생체 물리학적인 모델링과 시뮬레이션을 통하여 모델의 동특성을 조사하였으며, 생체운동(머리-안구)의 상호 관계를 비교하였다. 결과를 요약하면 다음과 같다. 1) 시스템을 구성하고 있는 매개변수의 변화가 출력에 미치는 영향을 조사하기 위해 감도해석법을 써서 감도계수를 구한 결과, 입력 제어신호의 펄스높이(PH), 동근의 펄스폭(PW1), 길항근의 펄스폭(PW2)이, 시스템의 출력특성을 결정하는 가장 중요한 매개변수 임을 알 수 있었다. 2) 비 선형 제어모델의 선형화를 통하여 선형모델의 응답특성과 크나큰 차이가 없음을 알았다. 3) Main-Sequence도를 작성하여 실험 데이터와 비교한 결과, 거의 일치함으로서 모델의 타당성을 입증하였다. 4) 머리운동이 시간최적으로 응답하기 위해서는 bang-bang 제어법칙이 적용되어야 함을 알았다. 5) 머리운동이 목표점에 도달하는 순간에는 길항근의 역제통 펄스가 가해 짐으로서, 길항근이 궤적의 마지막 부분을 지배함을 알았다. 6) 머리-안구운동의 main-sequence도를 비교 함으로서 상호관계를 규명하였다. 앞으로는 이 모델링 법을 개선확장하면, 비행시 파일럿의 생체 시뮬레이션, 헬멧 조준 사격 시스템등의 항공공학, 생체의용공학 연구 및 제어입력을 생체신호로 하는 로봇틱스 연구에 본 연구 방법은 유용하리라 생각된다.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1979-1980
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• 2006

최근 인간과 유사한 휴머노이드에 대한 연구가 상당히 활발하고 그 영역이 계속해서 확대되고 있는 추세다. 휴머노이드에는 로봇의 몸체 뿐 아니라 머리 부분, 특히 시각 시스템이 매우 중요하다. 본 논문에서는 생리학적인 측면에서 인간의 눈과 목의 운동을 관찰하여 휴머노이드에 적용 가능한 능동 시각 시스템의 기구부 설계 방법을 제안하고 제어 방식을 설명한다. 기존의 팬-틸트 방식의 시각 시스템에 없는 인공 안구의 롤 회전 기능을 추가함으로써, 사람의 시각 시스템과 거의 유사한 동작 영역과 동작 속도를 보이게 된다. 소형 비전센서 모듈을 사용함으로써 시스템의 크기가 줄고 경량화 되었다. DC 모터를 엑츄에이터로 사용함으로써, 위치와 속도 제어가 가능하고, 인간 안구의 단속적 운동을 모사 할 수 있다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.668-673
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• 2005

This paper proposes a simple actuator with a spherical rotor for robot's eyeball, which has two degrees of freedom. It features that both permanent magnets and coils are equipped in a stator and the spherical rotor with steps on its surface is driven by reaction of Lorentz force acting on the fixed coils. Such a structure is helpful to design a simple actuator and particularly suitable for a spherical actuator. Based on the FEM analysis, design parameters such as the sizes of core and permanent magnet, the width of step, coil turns and maximum current, are determined so as to maximize the torque and rotating angle. For the experimental verification of the feasibility, a prototype is manufactured and its operating characteristicsareinvestigated.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.537-544
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• 2020

This paper proposes the creation of an android robot head based on the facial action coding system(FACS), and the generation of emotional expressions by FACS. The term android robot refers to robots with human-like appearance. These robots have artificial skin and muscles. To make the expression of emotions, the location and number of artificial muscles had to be determined. Therefore, it was necessary to anatomically analyze the motions of the human face by FACS. In FACS, expressions are composed of action units(AUs), which work as the basis of determining the location and number of artificial muscles in the robots. The android head developed in this study had servo motors and wires, which corresponded to 30 artificial muscles. Moreover, the android head was equipped with artificial skin in order to make the facial expressions. Spherical joints and springs were used to develop micro-eyeball structures, and the arrangement of the 30 servo motors was based on the efficient design of wire routing. The developed android head had 30-DOFs and could express 13 basic emotions. The recognition rate of these basic emotional expressions was evaluated at an exhibition by spectators.