• Advances in robotics research
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• v.2 no.3
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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.

• The Journal of the Korea Contents Association
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• v.20 no.5
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• pp.79-89
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• 2020

The current study explored if users' self-relevance of the comparison domain with creative AI robot in music composition affected their envy toward the robot, cognitive assessment toward the music and intention toward working with robot in future. This study conducted a 2 (degree of self-relevance: high(college students majoring in music) vs. low(those not majoring in music) × 2 (working type: robot-only vs. robot-human collaboration) between-subjects factorial design experiment. The findings revealed that those majoring in music did not feel envious of the robot as much as those not majoring in music. However, compared to those not majoring in music, those majoring in music evaluated the robot's creativity lower, had more negative attitude toward the music, showed less intention to use the music and work with the robots in future. No interaction between the degree of self-relevance and the working type was found.

• The Journal of Korea Robotics Society
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• v.15 no.2
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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.

• The Journal of Korea Robotics Society
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• v.9 no.4
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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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• v.12 no.4
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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.

• The Journal of the Korea Contents Association
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• v.19 no.11
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• pp.507-515
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• 2019

The positive effects of 'robot actor' born in the age of artificial intelligence on the characteristics of theater (comprehensive, liveness, duality, planning) is due to the collaboration with 'robot' engineers, which increases the comprehensive. It is possible to respond to it, so that various reaction are maintained in every performance, and enhanced illusion can be provided in 'robot' material works in which 'robot actor' plays the role of 'robot'. However, the power focused on the director can reduce the comprehensiceness, the synthesis is reduced, and the 'robot actor' cannot perform the sweat or breath of 'human actor'. In itself, duality is incomplete. In addition, there is a high risk that the improvisation within the scope of planning is likely to occur as a sudden reaction, which may limit the postponement of the 'human actor'. Based on these findings, 'philosophy', 'science' and 'art' can predict the development of artificial intelligence side by side. It is considered necessary to study to redefine the direction and identity of arts and theater that should be moved forward.

• The Journal of Korea Robotics Society
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• v.11 no.4
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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.

• Electronics and Telecommunications Trends
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• v.32 no.5
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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.

• The Journal of Korea Robotics Society
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• v.12 no.3
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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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.