• 대한인간공학회지
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• 제32권3호
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• pp.237-243
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• 2013

Objective: The present study developed an estimation method of boundary zone representative humanoids(hereafter, EBZ method) using descriptive statistics on the design target population. Background: The boundary zone method(hereafter, BZ method) generates representative humanoids at a boundary zone that statistically accommodates a designated percent of the design target population; however, the BZ method has a practical limitation because it requires a large scale anthropometric database on the design target population. Method: The EBZ method developed in the present study consisted of 3 steps. In the first step, the boundary zone of accommodating a designated percent(e.g., 90%) is formed under the assumption of normal distributions for anthropometric sizes. In the second step, cases that fall within the boundary zone are estimated using descriptive statistics(mean, standard deviation, and covariance) on the design target population. In the last step, K-mean cluster analysis is conducted for the cases, and representative humanoids are selected from each of clusters. Results: Evaluation results showed that mean accommodation percent of the EBZ method was 90.9%(range: 90.8~91.1%) which is similar to the target percent(90%). In addition, standard deviation of accommodation percent for 100 repetitions was 0.1%. Lastly, the number of representative humanoids generated by the EBZ method(n = 20) was similar to the BZ method(n = 16). Conclusion: The EBZ method can generate representative humanoids which accommodate a designated percent of the design target population using descriptive statistics. Application: The EBZ method can be utilized in the generation of humanoids for ergonomic design and evaluation of products when the large scale anthropometric database on the design target population is not existed.

• 한국정밀공학회지
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• 제21권7호
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• pp.15-21
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• 2004

A number of Humanoids are introduced including ASIMO, HRP-2 Promet, Johnniee, Babybot, and KHR-2. Most researches are focused on the development of stable biped walking of Humanoids and it is not easy to endow an Humanoid with intelligence and service technology until now in the sense that the operation time of a Humanoid is limited less than 30 minutes even in the case that the battery is used only for the control of actuators in a Humanoid. In this paper, a brief survey on Humanoids is proposed and the concept of 'Network-based Humanoid', a Humanoid being able to provide intelligence for human-friendly services using ubiquitous networks, is introduced briefly.

• 산업공학
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• 제23권2호
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• pp.100-107
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• 2010

For proper ergonomic evaluation using a digital human model simulation (DHMS) system such as $RAMSIS^{(R)}$, the postures of humanoids for designated tasks need to be predicted accurately. The present study (1) evaluated the accuracy of driving postures of humanoids predicted by RAMSIS, (2) proposed a method to improve its accuracy, and (3) examined the effectiveness of the proposed method. The driving postures of 12 participants in a seating buck were measured by a motion capture system and compared with their corresponding postures predicted by RAMSIS. Significant discrepancies ($8.7^{\circ}$ to $74.9^{\circ}$) between predicted and measured postures were observed for different body parts and driving tasks. Two methods (constraints addition and user-defined posture) were proposed and their effects on posture estimation accuracy were examined. Of the two proposed methods, the user-defined posture method was found preferred, reducing posture estimation errors by 11.5% to 84.9%. Both the posture prediction accuracy assessment protocol and user-defined posture method would be of use for practitioners to improve the accuracy of predicted postures of humanoids in virtual environments.

• 대한인간공학회지
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• 제29권3호
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• pp.383-391
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• 2010

The present study evaluated a preliminary control room (CR) design of radioactive waste facility using the $JACK^{(R)}$ human simulation system. Four digital humanoids ($5^{th}$, $50^{th}$, $95^{th}$, and $99^{th}$ percentiles) were used in the ergonomic evaluation. The first three were selected to represent 90% of the target population (Korean males aged 20 to 50 years) and the last to reflect the secular trend of stature for next 20 years in South Korea. The preliminary CR design was assessed by checking its compliance to ergonomic guidelines specified in NUREG-0700 and conducting an in-depth ergonomic analysis with a digital prototype of the CR design and the digital humanoids in terms of postural comfort, reachability, visibility, and clearance. For identified design problems, proper design changes and their validities were examined using JACK. A revised CR design suggested in the present study would contribute to effective and safe operations of the CR as well as operators' health in the workplace.

• Advances in robotics research
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• 제2권2호
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1344-1349
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• 2007

Biped humanoids maintain their stability through precise controls during locomotion or operation. Dynamic forces are applied to the humanoid structure during locomotion or operation. If the humanoid has weakness from a structural viewpoint, these forces cause severe deformation or vibration of the structure, which can make the humanoid unstable. In this research, a design scenario is proposed to design a robust humanoid structure under the dynamic loads. The pelvis part is selected for design practice. Multibody dynamics is adopted to calculate the dynamic loads and a structural optimization technique is employed to design the pelvis structures. Since it is extremely difficult directly consider the dynamic loads in the optimization process, equivalent static loads are evaluated from the dynamic loads and the design result are discussed.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.555-559
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• 2007

There are few representative humanoid robots including Japanese ASIMO from Honda and HUBO from KAIST. We cannot consider ASIMO and HUBO the perfect humanoid robots, however. The basic principles when developing humanoid robot is to make them to work in a similar way as human's movement of arm. In this paper, we proposed method of designing humanoid robotic arms based on the morphological.eurological analysis of human's arm tor robot's arm to work in a similar way as human's ann, and we also implemented arm movement control system to humanoids robot by using SERCOS communication.

• 로봇학회논문지
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• 제10권2호
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• pp.90-95
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• 2015

The main goal of e-learning systems is just-in-time knowledge acquisition. Rule-based e-learning systems, however, suffer from the mesa effect and the cold start problem, which both result in low user acceptance. E-learning systems suffer a further drawback in rendering the implementation of a natural interface in humanoids difficult. To address these concerns, even exceptional questions of the learner must be answerable. This paper aims to propose a method that can understand the learner's verbal cues and then intelligently explore additional domains of knowledge based on crowd data sources such as Wikipedia and social media, ultimately allowing for better answers in real-time. A prototype system was implemented using the NAO platform.

• 한국지능시스템학회논문지
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• 제25권3호
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• pp.223-228
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• 2015

본 논문에서는 어떤 물체를 들어 올려서 전달하는 인간의 작업을 대신 수행하기 위한 인간형 로봇 팔의 어깨 및 팔꿈치 관절의 토오크 특성을 분석하고자 한다. 이러한 목적을 달성하기 위하여 인간의 일상적인 물체의 리프팅 행동을 고려하고, 단순한 구조의 어깨와 팔꿈치 관절을 갖는 인간형 로봇 팔 모델을 사용하여 어떤 물체를 다양한 경로로 이송하는 시뮬레이션을 수행한다. 이러한 시뮬레이션을 통하여 인간형 로봇 팔을 이용한 물체의 이송 작업에 있어서 요구되는 어깨 및 팔꿈치 관절의 토오크 패턴 및 범위를 사전에 파악할 수 있음을 보인다. 결과적으로, 이러한 어깨 및 팔꿈치 관절의 토오크 분석은 효과적인 로봇 팔 메커니즘 설계에 유용하게 활용될 수 있다.

• 산업공학
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• 제24권4호
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• pp.420-427
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• 2011

The present study developed an anthropometric design method accommodating physical human variabilities for user-centered product development. The proposed design method is based on the boundary zone method, a technique to generate a group of humanoids properly representing the body size diversity of thedesign target population. In addition, the anthropometric design method considers the variability of postures in the design process by incorporating the simulation of posture. The effectiveness of the proposed design method was evaluated in terms of multivariate accommodation percentage (MAP) by applying it to designing a computer workstation with 90% of accommodation percentage. The performance evaluation showed that the MAP (89%) of the computer workstation design produced by the proposed method was quite close to the designated accommodation percentage. The proposed design method can be of use to develop an effective anthropometric design for user-centered product development.