• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.648-651
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• 1997

This paper proposes methods for the cooperative control of multiple mobile robots and constructs a robotic soccer system in which the cooperation will be implemented as a pass play of two robots. To play a soccer game, elementary actions such as shooting and moving have been designed, and Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulation, learning is successful in case of deliberate initial arrangements of ball and robots, thereby cooperative work can be accomplished.

• 대한전자공학회논문지
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• 제26권10호
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• pp.1480-1487
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• 1989

An approach for collision-free coordination plan along designated paths of two robots in a common workspace is presented. Specifically, a notion of coordination space is introduced to visualize all the collision-free coordinations for the two robots. Then a problem is formulated and resolved in order to find the optimal coordination curve which trade off between safety of two robots and difference of degree of accomplishment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.147.1-147
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• 2001

Future robots, especially service and personal robots, will need much more intelligence, robustness and user-friendliness. The ability to learn contributes to these characteristics and is, therefore, becoming more and more important. Three of the numerous varieties of learning are discussed together with results of real-world experiments with three autonomous robots: (1) the acquisition of map knowledge by a mobile robot, allowing it to navigate in a network of corridors, (2) the acquisition of motion control knowledge by a calibration-free manipulator, allowing it to gain task-related experience and improve its manipulation skills while it is working, and (3) the ability to learn how to perform service tasks ...

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.296-301
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• 2003

Various robots are emerging nowadays to human life from industrial factories. Especially, technologies from multiple disciplines such as information technology (IT), bio technology (BT), and etc. are merged to make novel types of robots. Robots are employed to every place of works such as entertainment, education, service. rescue, medical support, dangerous job, production, etc. The robot in science fictions are now realized so that they become a new species taking human job and more than human.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.526-529
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• 1995

The closed loop robots have the advantage of higher velocity capability and often higher precision in comparison to the open loop robots. We have simulated the kinematic analysis of three limbs robot (T-L robot), which is one of the closed loop robots. After then, we have designed experimental T-L robots with 3 different kind of actuators. In this paper, we described the experimental results, and the problems in its applicatons.

• 전기학회논문지
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• 제60권11호
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• pp.2147-2151
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• 2011

In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.

• 지능정보연구
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• 제27권1호
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• pp.129-149
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• 2021

최근 인간과 사회적으로 상호작용할 수 있는 소셜 로봇(Social Robot)에 대한 관심이 커지고 있다. ICT 기술 발전에 힘입어 소셜 로봇이 개인에게 맞춤형 서비스와 정서적 교감을 제공하기 쉬워졌으며, 현대의 사회문제들과 이로 인한 개인의 삶의 질 저하를 해소하기 위한 수단으로 소셜 로봇의 역할이 주목받고 있다. 소셜 로봇에 대한 관심에 힘입어 소셜 로봇 보급 또한 크게 늘고 있다. 많은 기업이 다양한 목표시장을 겨냥하기 위한 로봇 제품들을 시장에 선보이고 있으나, 현재까지 시장을 선도하는 명확한 흐름은 부재하다. 이에 따라 소셜 로봇의 디자인을 통해 로봇을 차별화하고자 하는 시도가 늘고 있다. 특히 의인화는 소셜 로봇 디자인에서 중요하게 연구되고 있으며, 소셜 로봇을 의인화하여 긍정적인 효과를 발현하려는 접근이 많이 시도되었다. 그러나 소셜 로봇에 대한 의인화가 형성되는 메커니즘을 체계적으로 설명하는 연구는 부족하다. 의인화에 대한 모호한 이해는 소셜 로봇의 의인화를 형성하기 위한 디자인 최적점의 도출을 어렵게 하고 있다. 본 연구는 소셜 로봇의 의인화가 형성되는 메커니즘을 검증하는 것을 목적으로 한다. 본 연구는 3×2 Mixed Design의 실험 연구를 통해 소셜 로봇의 인간 유사성(Human-likeness)과 개인의 해석수준(Construal Level)이 의인화 형성에 미치는 영향을 확인하였다. 의인화가 형성되는 메커니즘에 대한 6개의 연구 가설을 제시하고, 206명 표본의 데이터를 분석하여 가설을 검증하였다. 분석 결과 소셜 로봇의 인간 유사성 수준에 따라 로봇 의인화 수준이 높아지며, 소비자 해석수준에 따라 인간 유사성이 의인화에 미치는 영향이 다르게 나타남을 확인하였다. 본 연구는 소셜 로봇의 디자인 속성인 인간 유사성과 개인의 사고방식인 해석수준을 함께 고려하여 의인화가 형성되는 메커니즘을 설명하였다는 점에서 시사점이 있다. 본 연구의 결과를 소셜 로봇 의인화 형성을 위한 디자인 최적화의 기준으로 활용할 수 있을 것으로 기대한다.

• PNF and Movement
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• 제19권1호
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• pp.115-125
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• 2021

Purpose: This study aimed to investigate basic data on the recognition of rehabilitation robots and self-efficacy through general characteristics of students in the department of physical therapy. Methods: This study surveyed 100 students in the Department of Physical Therapy at E University in Seongnam using Google Form, an online survey tool. The questionnaire consisted of 64 questions including 15 questions on general characteristics, 13 questions regarding recognition of rehabilitative robots, and 36 questions about self-efficacy. General self-efficacy consisted of three sub-factors: confidence, self-regulation efficacy, and task difficulty preference. Results: The recognition of rehabilitative robots according to general characteristics showed significant differences in age, level of education, and experience in searching rehabilitative robots; according to general characteristics, self-efficacy showed significant differences dependent on age and gender (p < 0.05). In addition, recognition of rehabilitation robots for students in the Department of Physical Therapy was found to have a significant effect on robot use self-efficacy (p < 0.05). Conclusion: There were significant differences in the scores of rehabilitation robot recognition and self-efficacy according to the general characteristics of students in the Department of Physical Therapy. For such reasons, it is important for students to have an opportunity to get educated on rehabilitation robots; in order to achieve this goal, domestic studies on rehabilitation robots must be actively conducted. The technological development of rehabilitation robots and the establishment of a system for domestic rehabilitation robots from both social and legal standpoints were found to be necessary based on a volume of domestic research.

• 한국지능시스템학회논문지
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• 제19권4호
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• pp.470-477
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• 2009

자기 자신의 형태를 변형하거나 물리적인 결합으로 재구성하여 새로운 환경에 적응하는 모듈형 자가 결합 로봇은 많은 연구가 필요한 분야이다. 본 논문에서는 물리적으로 결합 가능한 모듈형 로봇을 위한 영상기반의 자가 결합 제어기를 제안한다. 먼저 실시간 영상처리가 가능한 모듈형 로봇 플랫폼을 설계하고, 컬러기반 물체 인식 방법을 구현하였다. 모듈형 로봇은 자가 결합을 위해 결합될 로봇 근처의 부목표점까지 장애물들을 회피하면서 주행해 가야 한다. 본 논문에서는 부 목표점의 추적을 위하여 영상처리를 통해 얻은 거리와 방향각 정보들을 사용한 퍼지 주행 제어기와 장애물 회피를 위한 퍼지 제어기를 제안하고, 제안된 퍼지 제어기들과 로봇의 절대 거리 및 방향각 정보를 사용하여 모듈형 로봇을 위한 자가 결합제어기를 구현하였다. 실제 제작된 두 대의 모듈형 로봇을 사용하여 다양한 환경에서 로봇간 거리와 방향각이 다른 상황에서 실험을 수행하여 제안된 자가 결합 제어 방법의 성능을 검증하였다.

• Journal of Computational Design and Engineering
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• 제2권3호
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• pp.157-164
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• 2015

This paper discusses an optimization-based approach for the design of a product platform for industrial three-axis linear-type robots, which are widely used for handling objects in manufacturing lines. Since the operational specifications of these robots, such as operation speed, working distance and orientation, weight and shape of loads, etc., will vary for different applications, robotic system vendors must provide various types of robots efficiently and effectively to meet a range of market needs. A promising step toward this goal is the concept of a product platform, in which several key elements are commonly used across a series of products, which can then be customized for individual requirements. However the design of a product platform is more complicated than that of each product, due to the need to optimize the design across many products. This paper proposes an optimization-based fundamental framework toward the design of a product platform for industrial three-axis linear-type robots; this framework allows the solution of a complicated design problem and builds an optimal design method of fundamental features of robot frames that are commonly used for a wide range of robots. In this formulation, some key performance metrics of the robot are estimated by a reducedorder model which is configured with beam theory. A multi-objective optimization problem is formulated to represent the trade-offs among key design parameters using a weighted-sum form for a single product. This formulation is integrated into a mini-max type optimization problem across a series of robots as an optimal design formulation for the product platform. Some case studies of optimal platform design for industrial three-axis linear-type robots are presented to demonstrate the applications of a genetic algorithm to such mathematical models.