• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2771-2773
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• 2005

In network human-robot interaction, human can access services of a robot system through the network The communication is done by interacting with the distributed sensors via voice, gestures or by using user network access device such as computer, PDA. The service organization and exploration is very important for this distributed system. In this paper we propose a new agent-based framework to integrate partners of this distributed system together and help users to explore the service effectively without complicated configuration. Our system consists of several robots. users and distributed sensors. These partners are connected in a decentralized but centralized control system using agent-based technology. Several experiments are conducted successfully using our framework The experiments show that this framework is good in term of increasing the availability of the system, reducing the time users and robots needs to connect to the network at the same time. The framework also provides some coordination methods for the human robot interaction system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.2005-2010
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• 2004

As robots become more prevalent in human daily life, situations requiring interaction between humans and robots will occur more frequently. Therefore, human-robot interaction (HRI) is becoming increasingly important. Although robotics researchers have made many technical developments in their field, intuitive and easy ways for most common users to interact with robots are still lacking. This paper introduces a new approach to enhance human-robot interaction using a semantic symbol language and proposes a method to acquire the intentions of robot users. In the proposed approach, each semantic symbol represents knowledge about either the environment or an action that a robot can perform. Users'intentions are expressed by symbolized multimodal information. To interpret a users'command, a probabilistic approach is used, which is appropriate for interpreting a freestyle user expression or insufficient input information. Therefore, a first-order Markov model is constructed as a probabilistic model, and a questionnaire is conducted to obtain state transition probabilities for this Markov model. Finally, we evaluated our model to show how well it interprets users'commands.

• 로봇학회논문지
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• 제8권2호
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• pp.75-81
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• 2013

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels' contact to the ground during high acceleration, and localization for the real time position control.

• 정보보호학회지
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• 제17권5호
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• pp.25-31
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• 2007

IT기술과 지능을 로봇에 융합시킴으로써, 로봇이 스스로 사용자를 인식하여 사용자가 원하는 일을 하고 원하는 정보를 검색해 주는 인간 중심적 서비스를 제공하는 것이 지능형 로봇의 궁극적인 목표이다. 사용자가 원하는 서비스를 제공하기 위해서는 다양한 의사소통 채널을 통해 인간과 로봇, 두 개체간의 상호작용 및 의사소통 연결 고리를 형성하는 인간-로봇 상호작용(HRI: Human-Robot Interaction)기술 개발이 반드시 필요하다. HRI 기술에는 얼굴 인식, 음성 인식, 제스처 인식 및 감정 인식 등 로봇이 인간의 의사표시를 인식하기 위한 기술들이 있다. 본고에서는 지능형 로봇과 로봇의 시각 지능화의 가장 핵심적인 기능인 얼굴 인식의 융합 기술 동향에 대해서 응용 서비스 및 표준화 이슈를 중심으로 살펴보고자 한다.

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.33-39
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• 2010

The interaction of emotion is an important factor in Human-Robot Interaction(HRI). This requires a contextual appraisal of emotion extracting the emotional information according to the events happened from past to present. In this paper an emotion appraisal system based on the cognitive context is presented. Firstly, a conventional emotion appraisal model is simplified to model a contextual emotion appraisal which defines the types of emotion appraisal, the target of the emotion induced from analyzing emotional verbs, and the transition of emotions in the context. We employ a language based cognitive system and its sentential memory and object descriptor to define the type and target of emotion and to evaluate the emotion varying with the process of time with the a priori emotional evaluation of targets. In a experimentation, we simulate the proposed emotion appraisal system with a scenario and show the feasibility of the system to HRI.

• 로봇학회논문지
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• 제3권4호
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• pp.270-277
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• 2008

The development of a face robot basically targets very natural human-robot interaction (HRI), especially emotional interaction. So does a face robot introduced in this paper, named Buddy. Since Buddy was developed for a mobile service robot, it doesn't have a living-being like face such as human's or animal's, but a typically robot-like face with hard skin, which maybe suitable for mass production. Besides, its structure and mechanism should be simple and its production cost also should be low enough. This paper introduces the mechanisms and functions of mobile face robot named Buddy which can take on natural and precise facial expressions and make dynamic gestures driven by one laptop PC. Buddy also can perform lip-sync, eye-contact, face-tracking for lifelike interaction. By adopting a customized emotional reaction decision model, Buddy can create own personality, emotion and motive using various sensor data input. Based on this model, Buddy can interact probably with users and perform real-time learning using personality factors. The interaction performance of Buddy is successfully demonstrated by experiments and simulations.

• 아동학회지
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• 제32권4호
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• pp.1-14
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• 2011

The purpose of this study was to investigate young children's perceptions of a teacher assistant robot, IrobiQ. in a kindergarten classroom. The subjects of this study were 23 6-year-olds attending to G kindergarten located in E city, Korea, where the teacher assistant robot had been in operation since Oct. 2008. Each child responded to questions assessing the child's perceptions of IrobiQ's identity regarding four domains : it's biological, intellectual, emotional and social identity. Some questions asked the child to affirm or deny some characteristics pertaining to the robot and the other questions asked the reasons for the answer given. The results indicated that while majority of children considered an IrobiQ not as a biological entity, but as a machine, they thought it could have an emotion and be their playmate. The implications of these results are two folds : firstly, they force us to reconsider the traditional ontological categories regarding intelligent service robots to understand human-robot interaction and secondly, they open up an ecological perspective on the design of teacher assistant robots for use with young children in early childhood education settings.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.983-984
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• 2013

• IEIE Transactions on Smart Processing and Computing
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• 제1권3호
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• pp.192-200
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• 2012

In order for humans and robots to interact in daily life, robots need to understand human speech and link it to their actions. This paper proposes a hierarchical behavior model for robot action control using natural language commands. The model, which consists of episodes, primitive actions and atomic functions, uses a sentential cognitive system that includes multiple modules for perception, action, reasoning and memory. Human speech commands are translated to sentences with a natural language processor that are syntactically parsed. A semantic parsing procedure was applied to human speech by analyzing the verbs and phrases of the sentences and linking them to the cognitive information. The cognitive system performed according to the hierarchical behavior model, which consists of episodes, primitive actions and atomic functions, which are implemented in the system. In the experiments, a possible episode, "Water the pot," was tested and its feasibility was evaluated.

• Journal of Information Processing Systems
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• 제4권4호
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• pp.159-168
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• 2008

Human-Robot Interaction (HRI), based on already well-researched Human-Computer Interaction (HCI), has been under vigorous scrutiny since recent developments in robot technology. Robots may be more successful in establishing common ground in project-based education or foreign language learning for children than in traditional media. Backed by its strong IT environment and advances in robot technology, Korea has developed the world's first available e-Learning home robot. This has demonstrated the potential for robots to be used as a new educational media - robot-learning, referred to as 'r-Learning'. Robot technology is expected to become more interactive and user-friendly than computers. Also, robots can exhibit various forms of communication such as gestures, motions and facial expressions. This study compared the effects of non-computer based (NCB) media (using a book with audiotape) and Web-Based Instruction (WBI), with the effects of Home Robot-Assisted Learning (HRL) for children. The robot gestured and spoke in English, and children could touch its monitor if it did not recognize their voice command. Compared to other learning programs, the HRL was superior in promoting and improving children's concentration, interest, and academic achievement. In addition, the children felt that a home robot was friendlier than other types of instructional media. The HRL group had longer concentration spans than the other groups, and the p-value demonstrated a significant difference in concentration among the groups. In regard to the children's interest in learning, the HRL group showed the highest level of interest, the NCB group and the WBI group came next in order. Also, academic achievement was the highest in the HRL group, followed by the WBI group and the NCB group respectively. However, a significant difference was also found in the children's academic achievement among the groups. These results suggest that home robots are more effective as regards children's learning concentration, learning interest and academic achievement than other types of instructional media (such as: books with audiotape and WBI) for English as a foreign language.