• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.05a
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• pp.327-332
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• 2002

We made a human-sensitive motion interpretation to the interactive emotional robot, "Rai" of which the mechanism design was carried out and completed. Kinematic system of this emotional robot mainly consists of a body and a head. The body contains the total control units , the communicat ion modules and also two wheels and motors for main driving which make kinds of motions 1 ike the inverted pendulum. This robot system is designed under the concept on the human-friendly mot ion and react ion wi th humans around living room and office environments. Therefore, various scenarios are constructed in order to enable the emotional expressions at those places. Especially, we interpreted technically-possible motions while accommodating to the scenarios constructed. And we performed some experiments to make sere of the possibility of the motion interpretation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2481-2485
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• 2003

In this paper novel concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by two human operator through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and send them to GUI on the screen of human operators’ PC. The human operator can login to boxing game from any computer in any place if he/she is permitted. Remote control of boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.735-742
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• 2007

The importance of the interaction capability of a robot increases as the application of a robot is extended to a human's daily life. In this paper, a portable mediate interface Handybot is developed with various interaction channels to be used with an intelligent home service robot. The Handybot has a task-oriented channel of an icon language as well as a verbal interface. It also has an emotional interaction channel that recognizes a user's emotional state from facial expression and speech, transmits that state to the robot, and expresses the robot's emotional state to the user. It is expected that the Handybot will reduce spatial problems that may exist in human-robot interactions, propose a new interaction method, and help creating rich and continuous interactions between human users and robots.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.270-277
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• 2008

The development of a face robot basically targets very natural human-robot interaction (HRI), especially emotional interaction. So does a face robot introduced in this paper, named Buddy. Since Buddy was developed for a mobile service robot, it doesn't have a living-being like face such as human's or animal's, but a typically robot-like face with hard skin, which maybe suitable for mass production. Besides, its structure and mechanism should be simple and its production cost also should be low enough. This paper introduces the mechanisms and functions of mobile face robot named Buddy which can take on natural and precise facial expressions and make dynamic gestures driven by one laptop PC. Buddy also can perform lip-sync, eye-contact, face-tracking for lifelike interaction. By adopting a customized emotional reaction decision model, Buddy can create own personality, emotion and motive using various sensor data input. Based on this model, Buddy can interact probably with users and perform real-time learning using personality factors. The interaction performance of Buddy is successfully demonstrated by experiments and simulations.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.179-184
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• 2005

Recently, studying on modeling the emotion of a robot has become issued among fields of a humanoid robot and an interaction of human and robot. Especially, modeling of the motivation, the emotion, the behavior, and so on, in the robot, is hard and need to make efforts to use our originality. In this paper, new modeling using mathematical formulations to represent the emotion and the behavior selection is proposed for the software robot with virtual sensor modules. Various Points which affect six emotional states such as happy or sad are formulated as simple exponential equations with various parameters. There are several experiments with seven external sensor inputs from virtual environment and human to evaluate this modeling.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.1
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• pp.37-42
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• 2006

Recently, studying on modeling the emotion of a robot has become issued among fields of a humanoid robot and an interaction of human and robot. Especially, modeling of the motivation, the emotion, the behavior. and so on, in the robot, is hard and need to make efforts to use ow originality. In this paper, new modeling using mathematical formulations to represent the emotion and the behavior selection is proposed for the software robot with virtual sensor modules. Various points which affect six emotional states such as happy or sad are formulated as simple exponential equations with various parameters. There are several experiments with seven external sensor inputs from virtual environment and human to evaluate this modeling.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1099-1104
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• 2003

In this paper, the position control of a car-like mobile robot using neural network is proposed. The positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as references, the robot posture by localization is corrected by a cascaded controller. In order to improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The remotely located neural network filter modifies the reference trajectories to minimize the positional errors by wireless communication. A car-like mobile robot is built as a test-bed and experimental studies of proposed several control algorithms are performed. It turns out that the best position control can be achieved by a cascaded controller with neural network.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.4
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• pp.54-62
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• 2011

Emotional reaction should be different from the purpose of the robot system. The method for emotional reaction is also different from the specification of the robot system. Therefore, emotional behavior decision model, which is applied to social robots regardless of specifications and purposes, is necessary. This paper introduces a universal emotional behavior decision model designed for applying to various social robots that have different specifications and purposes. Multiple emotions, a set of probability value of every emotion, are calculated independently and expressed according to the purpose of the robot system. Then, behavior, for emotional reaction according to the calculated multiple emotions, is decided regarding the specification of the robot system. The decided behavior is a combination of unit behaviors that indicates the smallest expressible behaviors in each expression parts. It is possible to express various undefined behaviors by generating unit behavior combinations according to multiple emotions. The universal emotional behavior decision model is applied to three kinds of social robot systems that have different specifications and purposes.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.5
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• pp.116-123
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• 2003

These days, the researches related with the emotional robots are actively investigated and in progress. And human language, expression, action etc. are merged in the emotional robot to understand the human emotion. However, there are so many sound sources and background noise around the robot, that the robots should be able to separate the mixture of these sound sources into the original sound sources, moreover to understand the meaning of voice of a specific person. Also they should be able to turn or move to the direction of a specific person to observe his expression or action effectively. Until now, the researches on the localization and separation of sound sources have been so theoretical and computative that real-time processing is hardly possible. In this reason for the practical emotional robot, fast computation should be realized by using simple principle. In this paper the methods for detecting the direction of sound sources by using the phase difference between peaks on spectrums, and the separating the sound sources by using fundamental frequency and its overtones of human voice, are proposed. Also by using these methods, it is shown that the effective and real-time localization and separation of sound sources in living room are possible.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.