• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.62-69
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• 2008

A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human's daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger's motion profile to the design procedure. As a result, the developed hand can imitate not only human hand's shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.735-742
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• 2007

The importance of the interaction capability of a robot increases as the application of a robot is extended to a human's daily life. In this paper, a portable mediate interface Handybot is developed with various interaction channels to be used with an intelligent home service robot. The Handybot has a task-oriented channel of an icon language as well as a verbal interface. It also has an emotional interaction channel that recognizes a user's emotional state from facial expression and speech, transmits that state to the robot, and expresses the robot's emotional state to the user. It is expected that the Handybot will reduce spatial problems that may exist in human-robot interactions, propose a new interaction method, and help creating rich and continuous interactions between human users and robots.

• The Journal of Society for e-Business Studies
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• v.21 no.3
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• pp.129-151
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• 2016

The objective of this study is to examine the relationship of organizational justice, project performance and internal and external PMO (Project Management Office) capability by conducting survey of IT project participants worked with PMO. This study was the first case which classifies PMO capability into internal and external by ownership of PMO. PLS-SEM analysis, which used for this study shows internal PMO capability connects with distributive justice and procedural justice, and directly related to project performance. By comparison, external PMO capability has relationship only with procedural justice, but never related to project performance. Furthermore, distributive justice and procedural Justice all have correlation with project performance. In general, capability of external professional consulting firms is utilized for the fairness and objectivity in spite of sufficient internal project management capability. However, the internal PMO capability has greater influence on procedural justice than external's (internal PMO capability > external PMO capability). Also, distributive justice and project performance have direct correlation only with the internal PMO capability. This paper will be an indicator of finding human capabilities which are necessary for internal and external PMO performance, and has great significance of laying a groundwork of project management strategy by PMO.

• The Journal of Society for e-Business Studies
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• v.15 no.3
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• pp.183-193
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• 2010

Corporate business environment is rapidly evolving with the dramatic development of Information Technology. On that regard, companies are exploring various ways to create values in a bidto deliver outstanding business performance as well as coping with a changing business environment. Companies, in addition, have exerted extra efforts in developing and retaining talents as a way to enhance business performance. Against the backdrop, this paper presents a research-analysis model to analyze capability factors of corporate members which are essential for a company to create more values in the rapidly changing business environment. To this end, this paper carried out the following researches : First, through a literature review, capability types, which are required to improve business performance, as well as individual capability factors, were analyzed. Second, based on analysis result, Attitude, Skill and Knowledge were presented as individual capability factors essential to the technological convergence environment. Third, to analyze the validity of the research analysis model, expert interviews with corporate human resource as well as a large scale survey were performed.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.579-583
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• 1991

A fuzzy logic controller with rule modification capability is proposed to overcome the difficulty of obtaining control rules from the human operators. This new SOC algorithm modifies control rules by a fuzzy inference machine utilizing data base. Computer simulation results show good performances on both a linear system and a nonlinear system.

• Journal of the Korean Wood Science and Technology
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• v.38 no.4
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• pp.292-297
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• 2010

Sound absorption capability and anatomical features of kagikazura (Uncaria rhynchophylla) and larch (lalix kaemferi) wood were estimated. Sound absorption coefficients had been measured by the two microphone transfer function method and anatomical features of kagikazura wood examined by SEM observation. The sound absorption coefficients of Uncaria rhynchophylla was higher than lalix kaemferi. Especially, in the frequency range of 1 to 4KHz, sound absorption coefficients of kagikazura was about 2~3 times higher than those of lalix kaemferi. Abundant and big vessel observed on the cross sectional surface of kagikazura wood and simple perforation plate observed on the longitudinal surface. It was surmised that the abundant big vessel element and simple perforation plate behaved as a sound absorbing pore.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2042-2047
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• 2005

Many service robots which is interacting with human at home and in buildings have been developed. Few of them are shown in of the United States and of Japan. These robots are supposed to have a powerful indoor navigation performance in places where human beings live and work. The overall capability of service robots to move around in this environment is called environment correspondence, in which localization problem to find the accurate position and orientation is the most critical problem. While users set up a proper or a best environment for industrial robots, but for services robots at home and in buildings, it is very difficult to change the environment for robots. The expanded workspace due to mobility is difficult to be covered by means of those used for industrial robots because the cost increases and human beings do not want their environment to be changed for robots. This fact has made many researchers study efficient and effective environment correspondence problems. Among these problems, localization is the most difficult. Goal of localization study includes (1) Accurate detection of position and orientation (2) Minimum cost of the additional devices (3) Minimum change of human environment. In this study, as a solution of the above, we propose "Artificial Stars" which are attached on room ceiling as landmarks. In addition, we solve an adoption problem raised when a robot is delivered to a customer site and before it can perform its full navigation capability. We call this as "Initialization Problem" of service robots. We solve the initialization problem for both cases of environment with the map and without map. The proposed system is experimented and has shown how well it handles the initialization problem.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1774-1778
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• 1991

In this paper, we discuss the smooth hand-over of an object from a man to a robot and vice versa. In order for a robot to grasp an object or release a grasped object stably without using object model, as a man does, one of the basic approaches is the physiological method motivated by the study of human hands. So, we analyze human's grasping behavior by measuring grasp and friction forces simultaneously as a man grasps a experimental device which is designed for grasping or hand-over. Also, we investigate two methods that can predict when and bow fingers will slip upon a grasped object. And then, we propose a method of the hand-over of an object between a man and a robot by applying human's capability to a robot hand control.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.665-672
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• 2002

This paper deals with the human-interactive actions of a quadruped robot by using Genetic Algorithm. In case we have to work out the designed plan under the special environments, our robot will be required to have walking capability, and patterns with legs, which are designed like gaits of insect, dog and human. Our quadruped robot (called SERO) is capable of not only the basic actions operated with sensors and actuators but also the various advanced actions including walking trajectories, which are generated by Genetic Algorithm. In this paper, the body and the controller structures are proposed and kinematics analysis are performed. All of the suggested motions of SERO are generated by PC simulation and implemented in real environment successfully.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.176-183
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• 2009

This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).