• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.6
• /
• pp.555-559
• /
• 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.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.5
• /
• pp.390-395
• /
• 2016

In this paper, a sprint race of human and that of humanoid robot are compared. Sprint race is one of the most popular sports games of human. HuroCup organized by FIRA is the most representative sports event of humanoid robots. The rules of the sprint race in HuroCup are explained and the strategy for the sprint race that humanoid robots can play is proposed. A child-sized humanoid robot is designed and developed so that it can play to follow the rules of the sprint race. The algorithm of the game strategy is applied to the robot, and the robot's performance is tested. Eventually, in HuroCup, it is verified that the developed humanoid robot is suitable to perform the sprint race.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.5
• /
• pp.477-481
• /
• 2014

Human has various types of emotions which affect speculation, judgement, activity, and the like at the moment. Specifically, walking is also affected by emotions, because one's emotion status can be easily inferred by his or her walking style. The present research on biped walking with humanoid robots is mainly focused on stable walking irrespective of ground condition. For effective human-robot interaction, however, walking pattern needs to be changed depending on the emotion status of the robot. This paper provides analysis and comparison of gait experiment data for the men and women in four representative emotion states, i.e., joy, sorrow, ease, and anger, which was acquired by a gait analysis system. The data and analysis results provided in this paper will be referenced to emotional biped walking of a humanoid robot.

• Journal of the Ergonomics Society of Korea
• /
• v.32 no.3
• /
• pp.237-243
• /
• 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.

• Fashion & Textile Research Journal
• /
• v.11 no.6
• /
• pp.867-877
• /
• 2009

These days, the fantastic in opposition to classic beauty becomes a genre of creative body expression. The purpose of this study was to analyze the expressive characteristics of body types and meanings in recent fantastic fashion illustration. The method of this study was to analyze recent documentaries, fashion books, internet web site and so forth. The results were as follows: In literatures, pictures and movies, the category of the fantastic body's expressive types were classified as dominant mutant based on SF, multi body or fragment body by disruption, heterogeneous compound based on myth, personified humanoid and non substance in supernatural boundary. The dominant mutant based on SF was expressed image morphing, composition of machine image with body and modern metamorphosis of classic SF body. It means propensity to post-feminism and reservation of meaning analysis based on human unconsciousness. The multi body or fragment body by disruption in fashion illustration was expressed distorted composition of same body pictures, replacement of different bodies, deconstruction and partial omission of body and composition of meaning or non meaning images. It means permanence of self and basic narcissism. The heterogeneous compound based on myth was expressed general composition or optical illusion of various and aggressive animal motive. It means reinterpretation of original myth, metaphor of basic femme fatale, pursuit of permanence and sign of primitive mind in unconsciousness. The personified humanoid was expressed real human body description of mannequin or ball joint doll and anthropomorphism of robot image. It means representative satisfaction and nostalgia of childhood. The non substance in supernatural boundary was expressed grotesque description of ghost, zombie, vampire, angel, fairy, using of symbolic red, black color and non body. It means human's basic desire about immortality and taboo. Through the result of these study, the expression of fantastic body in fashion illustration will expend expressive method and we will understand human and cultural codes of today.

• The Journal of Korea Robotics Society
• /
• v.12 no.1
• /
• pp.42-54
• /
• 2017

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.