• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.4-171
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• 2001

This paper proposes a method of human- robot interaction (HRI) using face directional gesture. A single CCD color camera is used to input face region, and the robot recognizes the face directional gesture based on the facial feature´s positions. One can give a command such as stop, go, left and right turn to the robot using the face directional gesture. Since the robot also has the ultra sonic sensors, it can detect obstacles and determine a safe direction at the current position. By combining the user´s command with the sensed obstacle configuration, the robot selects the safe and efficient motion direction. From simulation results, we show that the robot with HRI is more reliable for the robot´s navigation.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.111-119
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• 2009

For daily life interaction with human, robots need the capability of encoding and storing cognitive information and retrieving it contextually. In this paper, spatiotemporal grounding of cognitive information for a language based cognitive system is presented. The cognitive information of the event occurred at a robot is described with a sentence, stored in a memory, and retrieved contextually. Each sentence is parsed, discriminated with the functional type of it, and analyzed with argument structure for connecting to cognitive information. With the proposed grounding, the cognitive information is encoded to sentence form and stored in sentence memory with object descriptor. Sentences are retrieved for answering questions of human by searching temporal information from the sentence memory and doing spatial reasoning in schematic imagery. An experiment shows the feasibility and efficiency of the spatiotemporal grounding for advanced service robot.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.341-345
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• 2007

This paper proposes an emotional interaction model between human and robot using an android. An android is a sort of humanoid robot that the outward shape of robot is almost the same as that of human. The android is a robot platform to implement and test emotional expressions and human interaction. In order to behave for the android like human, a structure of internal emotion system is very important. In our research, we propose a novel emotional model of android based on biological hormone and emotion space. Proposed emotion model has an advantage that it can represent emotion change as time by hormone dynamics.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.152-158
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• 2022

As various mobile robots and manipulator robots have been commercialized, robots that can be used by individuals in their daily life have begun to appear. With the development of robots that support daily life, the interaction between robots and humans is becoming more important. Manipulator robots that support daily life must perform tasks such as pressing buttons or picking up objects safely. In many cases, this requires expensive multi-axis force/torque sensors to measure the interaction. In this study, we introduce a low-cost two-axis pressure sensor that can be applied to manipulators for education or research. The proposed system used three force sensitive resistor (FSR) sensors and the structure was fabricated by 3D printing. An experimental device using a load cell was constructed to measure the biaxial pressure. The manufactured prototype was able to distinguish the +-x-axis and the +-y-axis pressures.

• Korean Journal of Cognitive Science
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• v.33 no.4
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• pp.205-228
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• 2022

This study aimed to confirm the effect of social and relational behavior types of robots on human cognition in human-robot interaction. In the experiment, the participants evaluated trust in robots by watching a video on the robot Nao interacting with a human, in which the robot made an error and then made an effort to restore trust. The trust recovery behavior was set as three conditions: an internal attribution in which the robot acknowledges and apologizes for an error, a condition in which the robot apologizes for an error but attributes it externally, and a non-action condition in which the robot denies the error itself and does not take any action for the error. As the result, in all three cases, the error was perceived as less serious when the robot apologized than when it did not, and the ability of the robot was also highly evaluated. These results provide evidence that human attitudes towards robots can respond sensitively depending on the robot's behavior and how they overcome errors, suggesting that human perception towards robots can change. In particular, the fact that robots are more trustworthy when they acknowledge and apologize for their own errors shows that robots can promote positive human-robot interactions through human-like social and polite behavior.

• Journal of Science and Technology Studies
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• v.18 no.2
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• pp.135-179
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• 2018

How do robots interact with the elderly? In this paper, we analyze the contexts of interaction between robots and the elderly and the role of mediators in initiating, facilitating, and maintaining the interaction. We do not attempt to evaluate the robot's performance or measure the impact of robots on the elderly. Instead, we focus on the circumstances and contexts within which a robot is situated as it interacts with the elderly. Our premise is that the success of human-robot interaction does not depend solely on the robot's technical capability, but also on the pre-arranged settings and local contingencies at the site of interaction. We select three television shows that feature robots for the elderly and one "dementia-prevention" robot in a regional healthcare center as our sites for observing robot-elderly interaction: "Grandma's Robot"(tvN), "Co-existence Experiment''(JTBC), "Future Diary"(MBC), and the Silbot class in Suwon. By analyzing verbal and non-verbal interactions between the elderly and the robots in these programs, we point out that in most cases the robots and the elderly do not meet one-to-one; the interaction is usually mediated by an actor who is not an old person. These mediators are not temporary or secondary components in the robot-elderly interaction; they play a key role in the relationship by arranging the first meeting, triggering initial interactions, and carefully observing unfolding interactions. At critical moments, the mediators prevent the interaction from falling apart by intervening verbally or physically. Based on our observation of the robot-elderly interaction, we argue that we can better understand and evaluate the human-robot interaction in general by paying attention to the existence and role of the mediators. We suggest that researchers in human-robot interaction should expand their analytical focus from one-to-one interactions between humans and robots to human-robot-human interactions in diverse real-world situations.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.186-192
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• 2009

In this paper, we represent the recognition method for human frontal upper body pose. In HCI(Human Computer Interaction) and HRI(Human Robot Interaction) when a interaction is established the human has usually frontal direction to the robot or computer and use hand gestures then we decide to focus on human frontal upper-body pose, The two main difficulties are firstly human pose is consist of many parts which cause high DOF(Degree Of Freedom) then the modeling of human pose is difficult. Secondly the matching between image features and modeling information is difficult. Then using Pictorial Model we model the human main poses which are mainly took the space of frontal upper-body poses and we recognize the main poses by making main pose database. using determined main pose we used the model parameters for particle filter which predicts the posterior distribution for pose parameters and can determine more specific pose by updating model parameters from the particle having the maximum likelihood. Therefore based on recognizing main poses and tracking the specific pose we recognize the human frontal upper body poses.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.179-185
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• 2014

In this paper, a quadruped walking pet robot for human-robot interaction, a robot-controller using a smart phone application program, and a home smart control system using sensor informations providing from the robot are described. The robot has 20 degree of freedom and consists of various sensors such as Kinect sensor, infrared sensor, 3 axis motion sensor, temperature/humidity sensor, gas sensor and graphic LCD module. We propose algorithms for the robot entertainment: walking algorithm of the robot, motion and voice recognition algorithm using Kinect sensor. emotional expression algorithm, smart phone application algorithm for a remote control of the robot, and home smart control algorithm for controlling home appliances. The experiments of this paper show that the proposed algorithms applied to the pet robot, smart phone, and computer are well operated.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.3
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• pp.246-252
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• 2005

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.237-244
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• 2008

Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.