• 전자공학회논문지
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• 제52권3호
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• pp.206-212
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• 2015

본 논문에서는 ITO 터치 패널 센서를 로봇의 피부로 이용하여 로봇 팔을 제어하는 물리적 인간-로봇 상호작용 방법을 제안한다. 사람과 로봇간의 물리적 상호작용을 구현하기 위해서는 힘/토크 센서를 사용하는 방법과 작은 소자 타입의 센서를 배치하여 만든 촉각 센서를 사용하는 방법이 연구되고 있다. 하지만, 이러한 센서들은 가격적인 측면이나 성능적인 측면에서 장단점이 존재하며, 본 연구에서는 터치 패널을 로봇의 피부로 사용하여 물리적 상호작용을 하는 방법을 제안하고 전체적인 시스템을 구축하여 실험을 통해 힘/토크 센서의 정확성과 소자 타입 센서의 경제성을 보이고자 한다. 실험은 터치 패널에서 기준점을 잡아 제스처를 생성하여 로봇 팔을 제어하는 방법과 엔드이펙터에 장착하여 로봇 팔을 제어하는 방법에 대해 진행하였다. 이러한 실험을 통해 터치 패널을 이용한 교시 제어의 가능성도 확인하였다.

• 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.

• 로봇학회논문지
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• 제2권3호
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• pp.282-287
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• 2007

Humanoid and android robots are emerging as a trend shifts from industrial robot to personal robot. So human-robot interaction will increase. Ultimate objective of humanoid and android would be a robot like a human. In this aspect, implementation of robot's facial expression is necessary in making a human-like robot. This paper proposes a dynamic emotion model for a mascot-type robot to display similar facial and more recognizable expressions.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2004년도 춘계 학술발표대회 논문집
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• pp.324-325
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• 2004

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.49.5-49
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• 2002

$\textbullet$ Developing "muscle shit" providing muscular support $\textbullet$ Based on a new concept: wearable robot $\textbullet$ Be applicable directly to human $\textbullet$ McKibben artificial muscles are sewn into a garment

• 한국정밀공학회지
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• 제17권9호
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• pp.13-20
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• 2000

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.555-557
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• 1992

Recently, realization of an intelligent cooperative interaction system between a man and robot systems is required. In this paper, HyperCard with a voice control is used for above system because of its easy handling and excellent human interfaces. Clicking buttons in the HyperCard by a mouse device or a voice command means controlling each joint of a robot system. Robot teaching operation of grasping a bin and pouring liquid in it into a cup is carried out. This robot teaching method using HyperCard provides a foundation for realizing a user friendly cooperative interaction system.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2004년도 추계 학술발표대회 논문집
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• pp.182-183
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• 2004

• 한국산학기술학회논문지
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• 제16권12호
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• pp.8563-8567
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• 2015

본 동작포착 및 매핑 기반의 인간-로봇상호작용 플랫폼을 제안한다. 사람의 동작을 포착하고 포착된 동작에서 운동을 계획하고 기기를 작동하게 하는 포착, 처리, 실행을 수행하는 플랫폼의 설계, 운용 및 구현 과정을 소개한다. 제안된 플랫폼의 구현 사례로 신뢰성과 성능이 뛰어난 Kinect 기반 포착기, 처리기에 구현된 상호작용 사이버 아바타 로봇과 처리기를 통한 물리 로봇 제어가 기술되었다. 제안된 플랫폼과 구현 사례는 동작포착 및 매핑 기반의 새로운 기기 제어 작동 방식의 실현 방법으로 기대된다.

• 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.