• The Journal of Korea Robotics Society
• /
• v.18 no.2
• /
• pp.216-224
• /
• 2023

Guide robots that provide services in public places have recently emerged as a non-face-to-face solution with the spread of COVID-19 and are growing. However, most guide robots provide only the same level of intelligence and the same interaction in different and changing environments. Therefore, its usefulness is limited and customers' interest is quickly lost. To solve this problem, it is necessary to develop social intelligence that can improve the robot's environment and situational awareness performance, and to continuously maintain customer interest by providing personalized and situational services. In this study, we developed guide robot services based on social HRI components that provides multi-modal context-aware. We evaluated service usefulness by measuring user satisfaction and frequency of use of the service through the survey. We analyzed the service quality attributes to identify the differentiating factors of guide robot based on social HRI components.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.849-854
• /
• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.3 no.2
• /
• pp.91-101
• /
• 2008

For a friendly interaction between human and robot, emotional interchange has recently been more important. So many researchers who are investigating the emotion generation model tried to naturalize the robot's emotional state and to improve the usability of the model for the designer of the robot. And also the various emotion generation of the robot is needed to increase the believability of the robot. So in this paper we used the hybrid emotion generation architecture, and defined the generalized context input of emotion generation model for the designer to easily implement it to the robot. And we developed the personality and loyalty model based on the psychology for various emotion generation. Robot's personality is implemented with the emotional stability from Big-Five, and loyalty is made of familiarity generation, expression, and learning procedure which are based on the human-human social relationship such as balance theory and social exchange theory. We verify this emotion generation model by implementing it to the 'user calling and scheduling' scenario.

• Journal of the Korean Society of Industry Convergence
• /
• v.17 no.4
• /
• pp.217-226
• /
• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• Journal of Digital Convergence
• /
• v.18 no.4
• /
• pp.37-44
• /
• 2020

This study aimed to explore the relationship between Intelligent Robot Reacher(IRT)-student by examining the factors of their relationship perceived by middle school students. In doing so, we developed questionnaires based on the existing teacher-student relationship scale and conducted an online survey of 283 first graders in middle school. The collected date were analyzed using exploratory factor analyses with SPSS 23 and confirmatory factor analysis with Amos 21. The study findings identified four factors of IRT-student relationship namely "trust", "competence", "emotional exchange", and "tolerance". It is expected that the study can be used to discuss ways to enhance educationally significant interaction between students-IRT and teaching methods using intelligent robots(IRs). Also, the study will contribute to the understanding and development of various services using IRs. Based on the study finidngs, future studies should investigate the perception of various education stockholders (teachers, parets, etc) on IRT to elevate the Human-Robot Interaction in the education field.

• Archives of design research
• /
• v.18 no.2 s.60
• /
• pp.155-164
• /
• 2005

Home-service robots need to have sufficient spatial information about the surroundings for interacting with human intelligently and performing services efficiently. It is very important to investigate the efficient interaction style that supports map building task through human-robot collaboration. We first analyzed map building task with a cleaning robot and drew 4 design factors and tentative solutions, including map building procedure (task-preferred procedure/space- preferred procedure), LCD display installation (robot/robot+remote control), navigation method (push type/pull type), feedback modality(GUI/GUI+TTS). The design factors and tentative solutions were defined as independent variables and levels. This research investigated how those variables affect to the human task performance and behavior in map building tast. 8 kinds of experiment prototypes were built and usability test among 16 house wives was conducted for acquiring empirical data. As the experiment result, in terms of map building procedure, space-preferred procedure indicated better task performance than task-proffered procedure as we expected. For the LCD display installation factor, remote control with LCD display indicated higher task performance and subjective satisfaction. In robot navigation method, it was very difficult to find a significant difference between push type and pull type which contrary to our expectation. In fact, push type indicated higher subjective satisfaction. Also in feedback modality, we have acquired negative feedback an additional TTS operation guidance. It seems that robot's autonomy before achieving spatial information is rudiment condition which means users are just interacting with a mobile appliance. Thus they prefer remote-control-based interaction style in robot map building process as they used in traditional appliance control.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.4
• /
• pp.450-456
• /
• 2014

Humanoid robot is the most suitable robot platform for effective human and robot interaction. However, the robot's complicated body structure containing more than twenty joint actuators makes it difficult to generate stable and elaborate postures using the conventional inverse kinematic method. This paper proposes an alternative approach to generate difficult postures of touching an object placed in front of the foot by the left or right hand with its torso bent forward in single support phase using the fast computational optimization method, particle swarm optimization. The simulated postures are also applied to a commercial humanoid robot platform, which validates the feasibility of the proposed approach.

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

• The Journal of Korea Robotics Society
• /
• v.8 no.2
• /
• pp.92-103
• /
• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• The Journal of Korea Robotics Society
• /
• v.4 no.4
• /
• pp.257-264
• /
• 2009

This paper proposes a novel face detection method that finds tiny faces located at a long range even with low-resolution input images captured by a mobile robot. The proposed approach can locate extremely small-sized face regions of $12{\times}12$ pixels. We solve a tiny face detection problem by organizing a system that consists of multiple detectors including a mean-shift color tracker, short- and long-rage face detectors, and an omega shape detector. The proposed method adopts the long-range face detector that is well trained enough to detect tiny faces at a long range, and limiting its operation to only within a search region that is automatically determined by the mean-shift color tracker and the omega shape detector. By focusing on limiting the face search region as much as possible, the proposed method can accurately detect tiny faces at a long distance even with a low-resolution image, and decrease false positives sharply. According to the experimental results on realistic databases, the performance of the proposed approach is at a sufficiently practical level for various robot applications such as face recognition of non-cooperative users, human-following, and gesture recognition for long-range interaction.