• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.337-339
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• 2007

This paper proposes a new paradigm for cooperation of multi-robot system for home service. For localization of each robot. the master robot collects information of location of each robot based on communication of RFID tag on the floor and RFID reader attached on the bottom of the robot. The Master robot communicates with slave robots via wireless LAN to check the motion of robots and command to them based on the information from slave robots. The operator may send command to slave robots based on the HRI(Human-Robot Interaction) screened on masted robot using information from slave robots. The cooperation of multiple robots will enhance the performance comparing with single robot.

• 한국정밀공학회지
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• 제33권8호
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• pp.647-654
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• 2016

Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

• Journal of Mechanical Science and Technology
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• 제18권11호
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• pp.1900-1908
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of human and robots is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly through obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between human and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction between humans and robots, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

• 한국산학기술학회논문지
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• 제10권8호
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• pp.2126-2133
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• 2009

세계적으로 로봇산업이 거대시장으로 급성장할 것으로 예상되면서, 많은 국가에서 정책적으로 로봇산업 발전을 추진하고 있다. 이러한 추세에 발맞춰 대한민국에서도 정부의 전략적 주도하에 다양한 분야에서의 로봇개발이 수행되고 있다. 이러한 연구개발 프로그램들은 산학협력을 통해 이루어지고 있으며, 더 나아가 기업의 애로기술을 해소하기 위한 기술적인 지원 및 교육을 추구하는 인력양성 및 산학협력 확산 연계 프로그램을 포함하고 있다. 본 논문에서는 이러한 산학협동 프로그램의 잠정적인 성과에 대해 논하였다. 우선 차세대 특성화 계획에 포함된 각각의 프로그램을 설명하고, 로봇 개발과 관련한 인력양성의 성과를 평가하였다. 마지막으로 이러한 프로그램들의 지속적이고 바람직한 발전을 위한 방안을 고찰하였다.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.65-71
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• 2007

Adjustable autonomy architecture provides various ways for a human operator to participate as a member of a human-robot team in improving the performance of the team by resolving issues that the robots cannot deal with or performing tasks that the robots alone would unable to do. According to the level of involvement of the human operator, the robots have to adjust their level of autonomy and, in consequence, the operation mode of the overall system shifts. This paper deals with the implementation issues of seamless switching when the level of autonomy of the human-robot team shifts from one level to another. Especially, we focus on developing reliable methods for monitoring the task progress and maximizing the system flexibility by coping with the detailed differences between humans and robots in their characteristics of motions and their choices of positions, paths, and sequences of sub-goals to achieve a given task. To test and motivate the proposed methods, we have assembled three heterogeneous robots which work together to dock both ends of a suspended beam into stanchions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2670-2675
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• 2003

A human-friendly interactive system, based on the harmonious symbiotic coexistence of human and robots, is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly among obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between humans and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction of human and robot, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.137-146
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• 2019

This study proposed a new technique to control of mobile robot based on voice command for (Human-Robot Cooperative operation in manufacturing precess). High performance voice recognition and control system was designed In this paper for smart factory. robust voice recognition is essential for a robot to communicate with people. One of the main problems with voice recognition robots is that robots inevitably effects real environment including with noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an robust voice recognition system which can robustly recognize voice by adults and students in noisy environments. It is illustrated by experiments the voice recognition performance of mobile robot placed in a real noisy environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.329-330
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• 2012

• 한국정밀공학회지
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• 제29권9호
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• pp.978-985
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• 2012

Starfish are a critical problem for fishermen since they eat every farming product including shellfish. The number of starfish is increasing dramatically because they have no natural enemy underwater. We consider the concept of capturing starfish using a semi-autonomous robot. A new underwater robot design to capture starfish is proposed using cooperation between humans and the robot. A requirements list for the robot is developed and two conceptual designs are proposed. Each robot is designed as a modular platform. The kinematic and dynamic performance of each robot is analyzed and compared. This study is a starting point for developing a starfish capture robot and designing underwater robots for other applications. In the near future, a prototype will be assembled and tested in a marine environment.

• 한국정밀공학회지
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• 제30권9호
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• pp.893-899
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• 2013

Recently, the requirement of automation in the cell production system is increasing due to a decrease of skilled workers who are the key point of a cell production system. This paper proposes a dual-arm robot designed and implemented with consideration of being applied to a cell production line of cellular phone. A specification was derived from the analysis of production process and the consideration of configuration for human-robot cooperation. Design and implementation results of the proposed dual-arm robot were suggested and the feasibility was verified through the demonstration of the proposed robot in some of packaging job of cellular phone.