• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.530-537
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• 2009

A graphic simulator can be a useful tool for planning gaits or dynamic behaviors to a walking pet robot. Microsoft describes robotics developer studio (MSRDS) as an end-to-end robotics development platform including simulation engine based on dynamics. In this paper, we propose a pet robot simulator (PRS), based on MSRDS, which supports interactively controlled two walking robots connected over network. To be pet robot simulator, modeling a commercial pet robot is performed and gait planning is also implemented. By using concurrency and coordination runtime (CCR) and decentralized software services (DSS) of MSRDS software platform, we connect two robots which are displayed together but controlled separately over network. The two walking pet robots can be simulated interactively by joysticks. It seems to be an internet game for pet robots.

• Journal of Korea Society of Industrial Information Systems
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• v.13 no.4
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• pp.145-154
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• 2008

In this paper, we propose the pet robot control system using hand gesture recognition in image sequences acquired from a camera affixed to the pet robot. The proposed system consists of 4 steps; hand detection, feature extraction, gesture recognition and robot control. The hand region is first detected from the input images using the skin color model in HSI color space and connected component analysis. Next, the hand shape and motion features from the image sequences are extracted. Then we consider the hand shape for classification of meaning gestures. Thereafter the hand gesture is recognized by using HMMs (hidden markov models) which have the input as the quantized symbol sequence by the hand motion. Finally the pet robot is controlled by a order corresponding to the recognized hand gesture. We defined four commands of sit down, stand up, lie flat and shake hands for control of pet robot. And we show that user is able to control of pet robot through proposed system in the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.855-858
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• 2003

The trends of recent developed a pet robot which interacts with people are increased gradually. There are a few pet robots that are a robot dog, robot cat, and robot fish. The pet robot is featured that it is possible to sympathize and give pleasure to human. The pet robots express delight, sorrow, surprise, and hunger through the artificial intelligence. Previously, the pet robot has to exchange the battery when it is exhausted. Commercialized robots have a self-recharging function, which express hunger. Robot dog AIBO, SONY in Japan, checks the battery for expressing hunger. They find an energy station for recharge. While operation time of AIBO is 1 hour 30 minutes, recharging time is 2 hours. Recharging time is longer than operation time. During the recharge, they don't operate. We obtain a motivation for eating the battery when find the problem. In this paper, introduce an Autonomous Eating Pet Robot and propose a design for realization. The Autonomous Eating Pet Robot has a function that is the most basic instinct that is finding a food and evacuating.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.314-321
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• 2005

In this paper an intelligence embedding quadruped pet robot is described. It has 15 degrees of freedom and consists of various sensors such as CMOS image, voice recognition and sound localization, inclinometer, thermistor, real-time clock, tactile touch, PIR and IR to allows owners to interact with pet robot according to human's intention as well as the original features of pet animals. The architecture is flexible and adopts various embedded processors for handling sensors to provide modular structure. The pet robot is also used for additional purpose such like security, gaming visual tracking, and research platform. It is possible to generate various actions and behaviors and to download voice or music files to maintain a close relation of users. With cost-effective sensor, the pet robot is able to find its recharge station and recharge itself when its battery runs low. To facilitate programming of the robot, we support several development environments. Therefore, the developed system is a low-cost programmable entertainment robot platform.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.573-579
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• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• 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 Precision Engineering and Manufacturing
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• v.6 no.4
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• pp.67-72
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• 2005

In a park or street, we can see many people jogging or walking with their dogs that are chasing their masters. In this study, a pet robot that imitates dog's behavior is developed. The task of robot is to chase a person who is recognized as the master. The physical structure and the sensor system are designed for the task and environment. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a person who is jogging in outdoor environment like a park. A sensor system, which can detect relative position of the master to the robot in highly dynamic and hazardous worlds, is developed. This sensor system consists of a signal transmitter which is held by the master and ultrasonic sensor array which are mounted on the robot. The transmitter emits RF (radio frequency) and ultrasonic signals simultaneously. The ultrasonic sensor array detects the signals and calculates direction and distance between the robot and the transmitter. The developed RF-ultrasonic sensor is evaluated through experiments. A purely reactive behavior-based control architecture is used for the robot. The behavior control performance of the robot is assessed in outdoor and indoor tests.

• Journal of Korean Academy of Nursing
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• v.39 no.4
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• pp.562-573
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• 2009

Purpose: The purpose of this study was to identify the effects on the cognitive function, Activities of Daily Living (ADL), mood, social behaviors, and problematic behaviors of robot pet-assisted program for elderly people with dementia. Methods: This study was a nonequivalent control group pretest-posttest design. The participants were 32 elders with dementia. Seventeen were assigned to the experimental group and 15 to the control group. The intervention was conducted twicea week for 6 weeks. Results: 1) After the program, cognitive function, ADL, and social behaviors did not show significant differences. 2) After the program, mood of experimental group was significantly better than that of the control group. 3) After the program, problematic behaviors of the experimental group were significantly more diminished than those of control group. 4) As a result of analyzing the response, robot pet-assisted program was effective such as inducing a positive emotional state and increasing communication and interaction. Conclusion: The robot pet-assisted program was effective in changing the mood and diminishing problematic behaviors and had positive effects such as increasing communication and interaction for elders with dementia. Therefore, this program should be considered as a positive program for physical and emotional support for elders with dementia.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.36.1-36
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• 2001

Recently the robot industry has developed quickly. There are robots carrying luggage at factories, the amusement robots (such as the pet-type robot) in the house, and so on. As the ability of computers improve, robot ability also improves, because mary calculations can be done in little time. Consequently robots can perform complex motions by various control methods. The robot in our laboratory was developed in order to assist various works in a hospital. We controlled our robot using PID control method. So this paper is written about PID control.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.6
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• pp.75-82
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• 2010

In this paper, we developed a new MSRDS(Microsoft Robotics Developer Studio) simulator for a quadruped pet robot with synchronization of virtual and real robots. By using this simulator, it is possible to reduce time and cost for gait and motion design and it will help for commercialization of service pet robots. In the research point of view, the simulator can be used to examine the model differences between the virtual and the real robots. Since this simulator implements the coordinated control of the virtual and real robots, it can be used as an internet game using two remote pet robots.