• Proceedings of the Korea Society of Design Studies Conference
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• 2004.05a
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• pp.92-93
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• 2004

• Proceedings of the Korea Society of Design Studies Conference
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• 2004.05a
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• pp.94-95
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• 2004

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.175-177
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• 2006

This paper deals with implementation of middleware using CAN(Controller Area Network) network and TCP/IP for real-time distributed control system of a humanoid robot. Existent system using CAN network is available. But, there is problems in extensibility and flexibility. In this raper, the new system using TCP/IP for solution and improvement of problems is proposed. The new system is applied to ISHURO-II, real-humanoid robot. The performance is verified through experiment.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1169-1170
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• 2008

The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer system.

• Proceedings of the KSPS conference
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• 2007.05a
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• pp.39-40
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• 2007

For efficient interaction between human and robots, speech interface is a core problem especially in noisy and reverberant conditions. This paper analyzes main issues of spoken language interface for humanoid robots, such as sound source localization, voice activity detection, and speaker recognition.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.135-138
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• 2008

최근 인간을 모방하는 휴머노이드 로봇(Humanoid robot)에 대한 관심이 증가함에 따라, 기계공학, 생체공학, 제어이론 등 여러 분야에서 관련 연구가 활발히 진행되고 있다. 이에 본 논문에서는 액츄에이터(Actuator)가 없이 경사진 지면을 걸을 수 있는 두 발을 가진 패시브 로봇(Passive robot)을 대상으로 강화학습과 메니폴드(Manifold control) 기법을 사용하여 안정적으로 걸을 수 있도록 제어기(Controller)를 설계하는 방안을 고려한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.319-320
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• 2012

로봇의 동작제어 기술에는 다양한 방법이 있다. 그 중 대부분은 수학적으로 자세를 계산하여 로봇을 제어한다. 본 논문에서는 Kinect를 이용한 휴머노이드의 동작제어 제안한다. Kinect로부터 실시간으로 영상을 입력받아 영상에서 인식된 사람의 각 관절의 좌표값을 추출한다. 추출한 좌표값으로 각 관절의 각도를 계산하고 사람의 행동을 따라하도록 로봇을 제어한다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.190-196
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• 2016

This paper proposes a humanoid robot performance system for performing in public places, such as an event, exhibition, or street performance. The system of modular structures can be moved easily, and can be played by a module or a combination of modules. The system developed with open source-based software and hardware is easy to adapt and improve. The robot performance control program for controlling robots, displays, audios, videos, and performance instruments was developed using the open source language, Processing. The performance instruments were developed using the open source hardware, Arduino. The contents of the robot performance were composed of scene-specific image, background audio, computer graphics, and videos. For their control and synchronization, the performance control program communicates with the humanoid robots and the performance instruments. In addition, performance accessories required to represent the performance concepts are produced by 3D modeling and printing. In a public place, the robot performance is performed with the theme of celebrating a Halloween day.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.528-536
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• 2020

As humanoid robot technology advances, the use of robots for performance is increasing. As a result, studies are being conducted to increase the scope of use of robots in performances by making them natural like humans. Among them, the use of motion capture technology is often used, and there are environmental inconveniences in preparing for motion capture, such as the need for IMU sensors or markers attached to each part of the body and precise high-performance cameras. In addition, for robots used in performance technology, there is a problem that they have to respond in real time depending on the unexpected situation or the audience's response. To make up for the above mentioned problems, in this paper, we proposed a real-time motion capture system by using a number of RGB-D cameras and creating natural robot motion similar to human motion by using motion-captured data.

• The Journal of the Korea Contents Association
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• v.21 no.11
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• pp.56-63
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• 2021

To solve the digital divide of the elderly, various institutions are educating how to use various smart devices for the elderly. However, it cannot be expected to have a great effect due to the disadvantages of instructor-to-face education and the learning characteristics of the elderly. Accordingly, educational contents using digital devices using robots for the elderly were developed. In this study, Evaluation Indicators were developed to evaluate the usability of digital education using robots. Also, by using usability evaluation based on the developed Evaluation Indicators, we tried to verify the usability of education using robots and to confirm the possibility of expanding the application area. In order to successfully apply the developing robot technology to various fields, it is essential to verify the usability of contents using robots, and this study on Evaluation Indicators and Evaluation methods is expected to serve as a foundation.