• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1025-1030
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• 2005

This paper deals with the emotional model of the software-robot. The software-robot requires several capabilities such as sensing, perceiving, acting, communicating, and surviving. and so on. There are already many studies about the emotional model like KISMET and AIBO. The new emotional model using the modified friendship scheme is proposed in this paper. Quite often, the available emotional models have time invariant human respond architectures. Conventional emotional models make the sociable robot get around with humans, and obey human commands during robot operation. This behavior makes the robot very different from real pets. Similar to real pets, the proposed emotional model with the modified friendship capability has time varying property depending on interaction between human and robot.

• 드라이브 ㆍ 컨트롤
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• 제19권2호
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• pp.27-35
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• 2022

This study presents one man-portable, hazardous gas detecting and capturing robot. The robot can be fit in the trunk of a sedan car. Its weight is less than 20 kg. A dedicated gas intake mechanism is proposed for the robot. The robot can detect and capture gases at a height of 2 m above the ground, although the height of the robot is about 0.2 m. The performance of the gas intake mechanism is verified through computational fluid dynamics (CFD) analysis and experiments. Its gas detecting signals were acquired by serial communication and processed in Robot Operating System (ROS) based control software. The proposed robot can successfully move on rough terrains such as stairs, sand roads, and rock roads.

• 대한인간공학회지
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• 제8권2호
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• pp.19-26
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• 1989

This study, as a part of integrated human-robot ergonomics, improves the robot motion control on the robot task in the TOES/WCS whose purpose is improving the teaching task constructed in the previous study. First, the updated combined fuzzy process using a new membership function with Weber's law is constructed for the purpose of coordinate reading of the end points in the macro motion control. Second, an algorithm using the geometric analysis is desinged in order to calculate position values and posture values of the robot joints. Third, the MGSLM method is designed to remove unnecessary the robot motion control caused by the GSLM method in the micro motion control. Consequently, proposed methods in this study lessen burdcn of a human of an improvement of the robot motion control and reduce the teaching time of a human operator and inaccuracy of the teaching task, which contribute to the integrated human-robot ergonomics.

• 디자인학연구
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• 제19권4호
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• pp.81-90
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• 2006

로봇디자인은 로봇이라는 첨단기술의 결정체와 인간을 연결하는 인터페이스 역할을 한다. 실용화 로봇기술의 성숙기에 접어들고 있는 현재 로봇에 대한 커다란 시장이 형성될 시점에서는 더욱 로봇디자인이 중요하게 될 것이다. 로봇이 인간과 같은 환경에서 살아가기 위해서는 인간 친화적인 인터페이스 디자인 기술과 기존의 로봇개념과는 다른 상호작용(interaction)을 고려한 로봇디자인이 개발되어져야 한다. 본 연구는 사례 연구 형식으로 쇼핑서비스지원 로봇을 대상으로 필요기능을 도출하고, HRI 디자인 요소에 대한 설계를 전개했다. 그리고 쇼핑서비스지원 로봇 디자인을 전개하였다. 특히, 제스처(Gesture), 표정(Expression), 사운드(Sound)의 HRI 디자인 요소 구성을 쇼핑서비스 로봇에 적용하여 구체적인 결과를 도출하였다. HRI 디자인에 대한 유효성 검증을 위해서 모션캡처, 애니메이션, 뇌파, 사운드 등이 통합된 인간과 로봇과의 구체적인 인터랙션을 제시하였다.

• IEIE Transactions on Smart Processing and Computing
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• 제5권3호
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• pp.215-221
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• 2016

This paper describes an automatic vowel sequence reproduction system for a talking robot built to reproduce the human voice based on the working behavior of the human articulatory system. A sound analysis system is developed to record a sentence spoken by a human (mainly vowel sequences in the Japanese language) and to then analyze that sentence to give the correct command packet so the talking robot can repeat it. An algorithm based on a short-time energy method is developed to separate and count sound phonemes. A matching template using partial correlation coefficients (PARCOR) is applied to detect a voice in the talking robot's database similar to the spoken voice. Combining the sound separation and counting the result with the detection of vowels in human speech, the talking robot can reproduce a vowel sequence similar to the one spoken by the human. Two tests to verify the working behavior of the robot are performed. The results of the tests indicate that the robot can repeat a sequence of vowels spoken by a human with an average success rate of more than 60%.

• 로봇학회논문지
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• 제8권4호
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• pp.238-246
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• 2013

In this paper, a robot vision technique is presented to detect obstacles, particularly approaching humans, in the images acquired by a mobile robot that autonomously navigates in a narrow building corridor. A single low-cost color camera is attached to the robot, and a trapezoidal area is set as a region of interest (ROI) in front of the robot in the camera image. The lower parts of a human such as feet and legs are first detected in the ROI from their appearances in real time as the distance between the robot and the human becomes smaller. Then, the human detection is confirmed by detecting his/her face within a small search region specified above the part detected in the trapezoidal ROI. To increase the credibility of detection, a final decision about human detection is made when a face is detected in two consecutive image frames. We tested the proposed method using images of various people in corridor scenes, and could get promising results. This method can be used for a vision-guided mobile robot to make a detour for avoiding collision with a human during its indoor navigation.

• 로봇학회논문지
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• 제17권3호
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• pp.264-272
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• 2022

Human-robot cooperative tasks are increasingly required in our daily life with the development of robotics and artificial intelligence technology. Interactive reinforcement learning strategies suggest that robots learn task by receiving feedback from an experienced human trainer during a training process. However, most of the previous studies on Interactive reinforcement learning have required an extra feedback input device such as a mouse or keyboard in addition to robot itself, and the scenario where a robot can interactively learn a task with human have been also limited to virtual environment. To solve these limitations, this paper studies training strategies of robot that learn table balancing tasks interactively using deep reinforcement learning with human's facial expression feedback. In the proposed system, the robot learns a cooperative table balancing task using Deep Q-Network (DQN), which is a deep reinforcement learning technique, with human facial emotion expression feedback. As a result of the experiment, the proposed system achieved a high optimal policy convergence rate of up to 83.3% in training and successful assumption rate of up to 91.6% in testing, showing improved performance compared to the model without human facial expression feedback.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.120.1-120
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• 2001

This paper proposes a prototype of a safe and reliable wheelchair robot with Human Robot Interaction (HRI). Since the wheelchair users are usually the handicapped, the wheelchair robot must guarantee the safety and reliability for the motion while considering users intention, A single color CCD camera is mounted for input user´s command based on human-friendly gestures, and a ultra sonic sensor array is used for sensing external motion environment. We use face and hand directional gestures as the user´s command. By combining the user´s command with the sensed environment configuration, the planner of the wheelchair robot selects an optimal motion. We implement a prototype wheelchair robot, MR, HURI (Mobile Robot with Human Robot Interaction) ...

• 대한음성학회:학술대회논문집
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• 대한음성학회 2006년도 춘계 학술대회 발표논문집
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• pp.135-138
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• 2006

The communication method between human and robot is one of the important parts for a human-robot interaction. And speech is easy and intuitive communication method for human-being. By using speech as a communication method for robot, we can use robot as familiar way. In this paper, we developed TTS for human-robot interaction. Synthesis algorithms were modified for an efficient utilization of restricted resource in robot. And synthesis database were reconstructed for an efficiency. As a result, we could reduce the computation time with slight degradation of the speech quality.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1225-1227
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• 2004

The robotic shoe testing system that mechanically simulates human motion was proposed to overcome the problems associated with human subject tests. The objective of this study is to predict new motion trajectory for robot that will produce similar force and moment of particular human motion. In order to solve this problem, it is imperative to understand the dynamics of robot for shoe testing. The methodology using parameter estimation technique was proposed for this problem. Since the dynamics of robot is certainly different from that of human, it is necessary to adapt/modify the robot's trajectory for future analysis, which is currently under investigation.