• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.393-394
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• 2007

Speaker Recognition for the Intelligent Service Robot is implemented in this paper. For this purpose, we perform speaker recognition based on Gaussian Mixture Model(GMM) and use robot platform called WEVER, which is a Ubiquitous Robotic Companion(URC) intelligent service robot developed at Intelligent Robot Research Division in ETRI. The experimental results reveals that the approach presented in this paper yields a good identification (89.00%) performance within 2 meter distance.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.539-545
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• 2011

This paper describes an intelligent service robot system for managing a store in an unmanned environment. The robot can be a good replacement for humans because it is possible to work all day and to remember lots of information. We design a system architecture for configuring many intelligent functions of intelligent service robot system which consists of four layers; a User Interaction Layer, a Behavior Scheduling Layer, a Intelligent Module Layer, and a Hardware Layer. We develop an intelligent service robot 'Part Timer' based on the designed system architecture. The 'Part Timer' has many intelligent function modules such as face detection-recognition-tracking module, speech recognition module, navigation module, manipulator module, appliance control module, etc. The 'Part Timer' is possible to answer the phone and this function gives convenient interface to users.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.565-570
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• 2008

Recently, the intelligent service robot is applied for the purpose of guiding the building or providing information to the visitors of the public institution. The intelligent robot which is on development has a sensor to recognize its location at the bottom of it. Four wheels which are arranged in the form of a lozenge support the weight of the components and structures of the robot. The operating environment of this robot is restricted at the uneven place because the driving part and internal structure is designed in one united body. The impact from the ground is transferred to the internal equipments and structures of the robot. This continuous impact can cause the unusual state of the precise components and weaken the connection between each structural part. In this paper, a suspension system which can be applied to the intelligent robot is designed. The dynamic model of the robot is created, and the driving characteristics of the actual robot and the robot with suspension are compared. The road condition which the robot can operate is expanded by the application of the suspension system. Additionally, the suspension system is optimized to reduce the impact to the robot components.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1093-1098
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• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• 한국IT서비스학회:학술대회논문집
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• 2006.05a
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• pp.186-189
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• 2006

CAMUS 시스템은 물리적으로 탑재되는 위치에 따라서 CAMUS 메인 서버와 Service Agent Manager 로 구분된다. Service Agent Manager 는 한 환경내에 존재하는 센서와 장치들 (Service Agent)을 관리 및 제어하는 프로그램이다. Service Agent Manager 는 여러 다양한 환경에 설치되어 환경 내에 위치한 다양한 센서로부터 정보를 얻고 그 정보를 CAMUS 메인 서버에 전달하는 한편 CAMUS 메인 서버로부터 실행명령을 받아 환경 내 장치를 제어하는 역활을 한다. 이러한 Service Agent Manager 는 임의의 공간 내에 설치될 수 있으며 로봇단말이나 개인 휴대단말 등에도 설치될 수 있다.

• Proceedings of the KSPS conference
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• 2005.11a
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• pp.117-120
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• 2005

This paper suggests an algorithm that can estimate the direction of the sound source in realtime. Our intelligent service robot, WEVER, is used to implement the proposed method at the home environment. The algorithm uses the time difference and sound intensity information among the recorded sound source by four microphones. Also, to deal with noise of robot itself, the kalman filter is implemented. The proposed method takes shorter execution time than that of an existing algorithm to fit the real-time service robot. The result shows relatively small error within the range of ${\pm}$ 7 degree.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.146.2-146
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• 2001

Recently, a need of non-industrial robot, such as service, medical, entertainment and house-keeping robot, has been increased. Therefore, the capability of robot which can do intelligent behavior like interaction with men and its environment become more prominent than the capability of executing simple repetitive task. To implement an intelligent robot which provides intelligent behavior, an effective system architecture including perception, learning, reasoning and action part is necessary. Control architectures for intelligent robot can be divided into two different classes. One is deliberative type controller which is applicate to high level intelligence like environment ...

• ETRI Journal
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• v.27 no.6
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• pp.666-676
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• 2005

In recent years, motivated by the emergence of ubiquitous computing technologies, a new class of networked robots, ubiquitous robots, has been introduced. The Ubiquitous Robotic Companion (URC) is our conceptual vision of ubiquitous service robots that provide users with the services they need, anytime and anywhere in ubiquitous computing environments. To realize the vision of URC, one of the essential requirements for robotic systems is to support ubiquity of services: that is, a robot service must be always available even though there are changes in the service environments. Specifically robotic systems need to be automatically interoperable with sensors and devices in current service environments, rather than statically preprogrammed for them. In this paper, the design and implementation of a semantic-based ubiquitous robotic space (SemanticURS) is presented. SemanticURS enables automated integration of networked robots into ubiquitous computing environments exploiting Semantic Web Services and AI-based planning technologies.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.270-274
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• 2007

In this paper, we present a Sound Source Localization (SSL) based GCC (Generalized Cross Correlation)-PHAT (Phase Transform) and new measurement method of angle with robot auditory system for a network-based intelligent service robot. The main goal of this paper is to analysis performance of TDOA and GCC-PHAT sound source localization method and new angle measurement method is compared. We use GCC-PHAT for measuring time delays between several microphones. And sound source location is calculated by using time delays and new measurement method of angle. The robot platform used in this work is wever-R2, which is a network-based intelligent service robot developed at Intelligent Robot Research Division in ETRI.

• Korean Journal of Child Studies
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• v.33 no.1
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• pp.237-259
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• 2012

The purpose of this study is to examine how children perceived the use of intelligent service robots in early childhood education and identifying the characteristics of the interaction between the children concerned and the robots. The subjects of this study were 49 kindergarten students from Girin Kindergarten in Gyeonggi-do. The results of this study suggested that the children personalized the robot and recognized it as their friend, regardless of their ages. In the interactions between the children and the robot, the children engaged in physical contact with the robot and occasionally tried to control its functions. In the child-robot interaction, the children searched their favorite functions and used them repeatedly, but also lost interest in those repeated functions. Regardless of their interest levels, however, the attendance or portfolio organization functions. With regard to the interaction between peers, there were frequent quarrels regarding the use of the robot at first, but these conflicts were resolved by the intervention of peers or teachers, and the children who were familiar with the use of the robot helped their friends; this was viewed as constituting cooperative behavior. Children usually used the robot with their friends. The robot was a medium for children to find new friends. Peer group activities were explored and new friendships were created as a result of the use of the robot.