• Advances in robotics research
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• 제2권3호
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• pp.201-217
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• 2018

Agriculture production is a critical human intensive task, which takes place in all regions of the world. The process to grow and harvest crops is labor intensive in many countries due to the lack of automation and advanced technology. Much of the difficult, dangerous and dirty labor of crop production can be automated with intelligent and robotic platforms. We propose an intelligent, agent-oriented robotic team, which can enable the process of harvesting, gathering and collecting crops and fruits, of many types, from agricultural fields. This paper describes a novel robotic organization enabling humans, robots and agents to work together for automation of gathering and collection functions. The focus of the research is a model, called HARMS, which can enable Humans, software Agents, Robots, Machines and Sensors to work together indistinguishably. With this model, any capability-based human-like organization can be conceived and modeled, such as in manufacturing or agriculture. In this research, we model, design and implement a technology application of knowledge-based robot-to-robot and human-to-robot collaboration for an agricultural gathering and collection function. The gathering and collection functions were chosen as they are some of the most labor intensive and least automated processes in the process acquisition of agricultural products. The use of robotic organizations can reduce human labor and increase efficiency allowing people to focus on higher level tasks and minimizing the backbreaking tasks of agricultural production in the future. In this work, the HARMS model was applied to three different robotic instances and an integrated test was completed with satisfactory results that show the basic promise of this research.

• 한국콘텐츠학회논문지
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• 제20권5호
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• pp.79-89
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• 2020

본 연구는 인공지능 로봇이 높은 수준의 음악적 창작물을 제시할 때 로봇과 인간과의 협업정보 유무와 함께 로봇과의 비교영역의 자기관련성 정도가 사용자의 로봇에 대한 시기심, 창작한 음악에 대한 예술성의 평가와 태도, 그리고 향후 창작 음악을 사용하고 로봇과 협업할 의도에 미칠 영향을 검증했다. 2(비교영역 자기관련성: 낮음(음악 비전공자) vs. 높음(음악 전공자)) × 2(작업유형: 로봇 홀로 작업 vs. 로봇과 인간의 협업)의 집단 간 요인 설계 실험으로 진행하였다. 연구 결과, 자기관련성이 높았던 음악 전공자들에 비해 자기관련성이 낮았던 비전공자들이 로봇의 능력에 대하여 더 높은 시기심을 갖고 있는 것으로 나타났다. 그러나 음악 전공자들은 로봇이 창작한 음악의 예술성을 더 낮게 평가했고, 음악에 대한 태도도 더 비호의적이었고, 향후 음악을 사용할 의도와 로봇과 협업할 의도를 더 낮게 보고 했다. 한편, 인간과의 협업 정보 여부는 시기심을 비롯한 종속변인에 유의미한 영향을 주지 않았다.

• 로봇학회논문지
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• 제15권2호
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• 로봇학회논문지
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• 제9권4호
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• Safety and Health at Work
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• 제12권4호
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• pp.496-504
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• 2021

Background: With the increasing demand for industrial robots and the "noncontact" trend, it is an appropriate point in time to examine whether risk assessments conducted for robot operations are performed effectively to identify and eliminate the risks of injury or harm to operators. This study discusses why robot accidents resulting in harm to operators occur repetitively despite implementing control measures and proposes corrective actions for risk assessments. Methods: This study collected 369 operator-injured robot accidents in Korea over the last decade and reconstructed them into the mechanism of injury, work being undertaken, and bodily location of the injury. Then, through the techniques of Systematic Cause Analysis Technique (SCAT) and Root Cause Analysis (RCA), this study analyzed the root and direct causes of robot accidents that had occurred. Causes identified included physical hazards and complex combinations of hazards, such as psychological, organizational, and systematic errors. The requirements of risk assessments regarding robot operations were examined, and three case studies of robot-involved tasks were investigated. The three assessments presented were: camera module processing, electrical discharge machining, and a panel-flipping robot installation. Results: After conducting RCA and comparing the three assessments, it was found that two-thirds of injury-occurring from robot accidents, causative factors included psychological and personal traits of robot operators. However, there were no evaluations of the identifications of personal aspects in the three assessment cases. Conclusion: Therefore, it was concluded that personal factors of operators, which had been overlooked in risk assessments so far, need to be included in future risk assessments on robot operations.

• 한국콘텐츠학회논문지
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• 제19권11호
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• pp.507-515
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• 2019

인공지능 시대에 탄생한 '로봇배우'가 연극의 특성(종합성, 현장성, 이중성, 계획성)에 미치는 긍정적인 영향은 '로봇'기술자들과의 협업이 이뤄지므로 종합성이 확대되며, 인공지능에 의한 반응이 가능하므로 매 공연에 다른 현장성이 유지되고, '로봇배우'가 '로봇'의 역할을 맡는 '로봇' 소재 작품에서는 한층 강화된 일루전 제공이 가능하다. 하지만 연출자의 독단으로 종합성이 축소되고, '인간배우'가 흘리는 땀이나 숨결까지 '로봇배우'가 해낼 수는 없기에 현장성의 질이 다르며, '로봇배우'에 대한 관객의 입장에서나 '로봇배우' 자체의 입장에서나 이중성은 불완전할 수밖에 없다. 또한 계획성의 범위 내에서 이뤄지는 즉흥이 돌발적 반응으로 전개될 위험성이 크고 그로 인해 '인간배우'의 연기가 제한되는 한계에 봉착할 수 있다. 이와 같은 연구 결과를 토대로 '철학''과학' '예술'이 나란히 인공지능의 발전을 예측하여, 앞으로 나아가야 할 예술·연극의 방향과 정체성을 재정립하는 연구가 필요한 것으로 사료된다.

• 로봇학회논문지
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• 제11권4호
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• pp.293-299
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• 2016

In this article art performing applications of industrial dual-arm robots are introduced. It was real collaboration among robot researchers and artist. Artist designed the performance to use dual-arm robot. Robot researchers collaborated with artist by providing robotic constraints and configuring robot motion. Two art performances were configured with two industrial dual-arm robots. In both performance robots carry objects to be used as moving screens. Both performances rely on the high power and high precision of robots. In addition human-like appearance make those performances be familiar to public.

• 전자통신동향분석
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• 제32권5호
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• pp.10-19
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• 2017

A Telepresence service is an advanced video conferencing service at aimed providing remote users with the feeling of being present together at a particular location for a face-to-face group meeting. The effectiveness in this type of meeting can be further increased by automatically recognizing the audiovisual behaviors of the video conferencing users, accurately inferring their level of engagement from the recognized reactions, and providing proper feedback on their engagement state. In this paper, we review the recent developments of such engagement analysis techniques being utilized in various applications, such as human-robot interaction, content evaluation, telematics, and online collaboration services. In addition, we introduce a real-time engagement analysis framework employed in our telepresence service platform for an increased participation in online group collaboration settings.

• 로봇학회논문지
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• 제12권3호
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• pp.258-262
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• 2017

In this paper, we propose a new collision detection algorithm for human-robot collaboration. We use an IMU sensor located at the tip of the manipulator and the kinematic behavior of the manipulator to detect the unexpected collision between the robotic manipulator and environment. Unlike other method, the developed algorithm uses only the kinematic relationship between the manipulator joint and the end effector. Therefore, the collision estimation signal is not affected by the error of the dynamics model. The proposed collision detection algorithm detects the collision by comparing the estimated acceleration of the end effector derived from the position, velocity and acceleration trajectories of the robot joints with the actual acceleration measured by the sensor. In simulation, we compare the performance of our method with the conventional Residual Observer (ROB). Our method is less sensitive to the load variation because of the independency on the dynamic modeling of the manipulator.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.