• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.335-340
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• 2011

In the study, a tangible interface using iPhone is proposed to control a mobile robot, instead of remote control by a joystick or buttons. The robot is controlled by iPhone like a handle bar, since acceleration sensors of iPhone are used in the proposed method. The sensors measure the angles changed on the xyz coordinates of iPhone. And their sensor values are stabilized by digital filters. Bluetooth is chosen for communication between a mobile robot and iPhone. In this paper, four type methods are considered and one of the methods is selected for remote control of a mobile robot. Experimental results show that the robot is easily and conveniently controled by the tangible interface based on iPhone.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.43-43
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• 2000

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes; One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according to the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot's gait motion. In our walking algorithm, the ankle joint is mainly used lot balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on even surface.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.227-232
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• 1998

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.608-612
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• 1990

The robot system which can handle a stream of randomly positioned parts on a conveyor belt system, is developed. It is composed of a PUMA 560 robot, a conveyor belt system and a vision system. The performance of the overall system is mainly dependent upon the robot and vision system interface technique. A vision algorithm is developed to determine the position, orientation and type of the part. Calibration procedure and the vision-to-robot transformation are also proposed. Experimental results are then presented and discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1217-1222
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• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.66-71
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• 2006

Recently, there are lots of concerning on ubiquitous environment of robots and URC (Ubiquitous Robotic Companion). In this paper, a practical ubiquitous interface system far controlling mobile robots in indoor environments was proposed. The interface system was designed as a manager-agent model including a PC manager, a mobile manager, and robot agents for being able to be accessed by any network. In the system, the PC manager has a 3D virtual environment and shows real images for a human-friendly interface, and share the computation load of the robot such as path planning and managing geographical information. It also contains Hybrid Format Manager(HFM) working for transforming the image, position, and control data and interchanging them between the robots and the managers. Mobile manager working in the minimized computing condition of handsets has a mobile interface environment displaying the real images and the position of the robot and being able to control the robots by pressing keys. Experimental results showed the proposed system was able to control robots rising wired and wireless LAN and mobile Internet.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.11
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• pp.7508-7512
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• 2015

We propose a brain-machine interface(BMI) based human-robot interaction(HRI) platform which operates machines by interfacing intentions by capturing brain waves. Platform consists of capture, processing/mapping, and action parts. A noninvasive brain wave sensor, PC, and robot-avatar/LED/motor are selected as capture, processing/mapping, and action part(s), respectively. Various investigations to ensure the relations between intentions and brainwave sensing have been explored. Case studies-an interactive game, on-off controls of LED(s), and motor control(s) are presented to show the design and implementation process of new BMI based HRI platform.

• Journal of Korea Entertainment Industry Association
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• v.8 no.2
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• pp.283-297
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• 2014

The future of human life is expected to be innovative by increasing social, economic, political and personal, including all areas of life across the multi-disciplinary skills. Particularly, in the field of robotics and next-generation games with robots, by multidisciplinary contributions and interaction, convergence between technology is expected to accelerate more and more. The purpose of this study is that by new interface model beyond the technical limitations of the "human-robot interface technology," until now and time and spatial constraints and through fusion of various modalities which existing human-robot interface technologies can't have, the research of more reliable and easy free "human-robot interface technology". This is the research of robot game system which develop and utilizing real time synchronization engine linking between biped humanoid robot and the behavior of the position value of mobile device screen's 3D content (contents), robot (virtual robots), the wireless protocol for sending and receiving (Protocol) mutual information and development of a teaching program of "Direct Teaching & Play" by the study for effective teaching.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.777-782
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• 2007

Human Robot Interaction(HRI) through a haptic interface plays an important role in controlling robot systems remotely. The augmented usage of bio-signals in the haptic interface is an emerging research area. To consider operator's state in HRI, we used bio-signals such as ECG and blood pressure in our proposed force reflection interface. The variation of operator's state is checked from the information processing of bio-signals. The statistical standard variation in the R-R intervals and blood pressure were used to adaptively adjust force reflection which is generated from environmental condition. To change the pattern of force reflection according to the state of the human operator is our main idea. A set of experiments show the promising results on our concepts of human adaptive interface.

• Transactions of the Korean Society of Automotive Engineers
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• v.3 no.6
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• pp.199-211
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• 1995

As international market pressures increase, product life cycles are becoming shorter at same time requirements for productivity and flexibility are becoming higher. Major improvement in robot programming user interface is central to increasing productivity and flexibility for automatic manufacturing environments. New computer technologies have the potential to accomplish this improvement. In this study we have developed a system which proves that interactive computer graphics and geometric modeling have matured to the point where their artful application into an integrated system can rsult in radically new and powerful user interface for robot programming. With the graphic user interface environment the system efficiently utilizes the existing CAD data and gemetric modeling techniques for off-line programming and simulations. Also the system successfully generates robot control programs performing the desired tasks given through off-line programming.