• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.126-129
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• 2003

The robot has recently emerged as a factor in the daily lives of humans, taking the form of a mechanical pet or similar source of entertainment. A robot system that is designed to co-exist with humans, i.e., a coexistence-type robot system, is important to be "it exists in various environments with the person, and robot system by which the interaction of n physical, informational emotion with the person etc. was valued". When studying the impact of intimacy in the human/robot relationship, we have to examine the problems that can arise as a result of physical intimacy(coordination on safety in the hardware side and a soft side). Furthermore, We should also consider the informational aspects of intimacy (recognition technology, and information transport and sharing).

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.235-241
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• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.74-79
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• 2019

In this paper, we develop a virtual experimental environment to investigate users' eye gaze in human-robot social interaction, and verify it's potential for further studies. The system consists of a 3D robot character capable of hosting simple interactions with a user, and a gaze processing module recording which body part of the robot character, such as eyes, mouth or arms, the user is looking at, regardless of whether the robot is stationary or moving. To verify that the results acquired on this virtual environment are aligned with those of physically existing robots, we performed robot-guided quiz sessions with 120 participants and compared the participants' gaze patterns with those in previous works. The results included the followings. First, when interacting with the robot character, the user's gaze pattern showed similar statistics as the conversations between humans. Second, an animated mouth of the robot character received longer attention compared to the stationary one. Third, nonverbal interactions such as leakage cues were also effective in the interaction with the robot character, and the correct answer ratios of the cued groups were higher. Finally, gender differences in the users' gaze were observed, especially in the frequency of the mutual gaze.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.314-321
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• 2005

In this paper an intelligence embedding quadruped pet robot is described. It has 15 degrees of freedom and consists of various sensors such as CMOS image, voice recognition and sound localization, inclinometer, thermistor, real-time clock, tactile touch, PIR and IR to allows owners to interact with pet robot according to human's intention as well as the original features of pet animals. The architecture is flexible and adopts various embedded processors for handling sensors to provide modular structure. The pet robot is also used for additional purpose such like security, gaming visual tracking, and research platform. It is possible to generate various actions and behaviors and to download voice or music files to maintain a close relation of users. With cost-effective sensor, the pet robot is able to find its recharge station and recharge itself when its battery runs low. To facilitate programming of the robot, we support several development environments. Therefore, the developed system is a low-cost programmable entertainment robot platform.

• Journal of Korean Gerontological Nursing
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• v.20 no.sup1
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• pp.127-136
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• 2018

Purpose: The purpose of this study was to investigate the possibility of using intelligent robot based nursing practice as discussed in previous research and also, to propose directions for robot care for elders. Methods: For this study 28 previous researches using robots in health care field were reviewed and related research trends introduced. Results: Robot applications in the healthcare field were mainly for rehabilitation, surgery, interaction, and nursing assistance through robotics. Especially types of robot include pet type robots, humanoid robots, surgical robots, rehabilitation robots, robot suit and entertainment robots with monitors. The research participants were patients with dementia and institutionalized elderly people. It was found that a human-robot interaction was effective from physical, mental, emotional and social aspects. Conclusion: Robots can be used for various purposes such as nursing assistance, patient health promotion and education. It is necessary to reduce the human burden of care work using robots and to introduce robot care programs which can meet the needs of elders. Therefore, korean nurses should make efforts to change their practice to new geriatric nursing through repeated research based on the scientific data.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.163-169
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• 2019

Robot ALICE@ERICA is a service robot developed to receive donations and to provide information services. ALICE@ERICA stands for Artificial Learning Intelligence robot for Culture and Entertainment at ERICA. In order to achieve the specific purpose of receiving donations, proper appearance design, appropriate movement and good communication skills are required in terms of HRI. In this paper, we introduce three strategies for developing robots to receive donations effectively. The first is to design a robot that makes people feel intimacy, the second is to approach only one of several people as a donor, and finally the donor communicates with video contents and voice recognition. A survey was conducted on the person who showed the reaction after the robot donated money in public places. Based on the survey results, it is proved that the method presented in this study effectively contributed to fund raising. If robots can perform actions that require high level of HRI, such as donation, robots can contribute more to human society. We hope that this study contributes to the improvement of human happiness.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.11a
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• pp.1433-1436
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• 2005

임베디드 시스템의 발전으로 현재 진보된 로봇 시스템들은 운영 체제, 비젼 시스템 및 센서 시스템들을 별도의 호스트 PC의 도움 없이 독립적으로 탑재하여 가동 시킬 수 있다. 본 논문에서는 임베디드 시스템을 이용한 SBER (Small Biped Entertainment Robot)에 필요한 로봇의 제어기 구조와 로봇에 최적화된 임베디드 시스템을 구현한다. 또한 주 프로세서와 주 컨트롤러를 탑재한 최적화된 소형 엔터테인먼트 이족 로봇 개발을 목적으로 한다. SBER은 TI사의 DSP인 TMS320LF2407A를 로봇의 주 컨트롤러로 사용하여 로봇의 관절 제어를 통한 기본적인 보행 실험과 음원의 위치를 파악하기 위한 음원 위치 추적 문제를(Sound Localization) 수행한다. 또한 Intel사의 PXA255A를 주 프로세서로 사용하여 연산량이 높은 영상처리 알고리즘과 감정 표현, 장애물 인식 및 장애물 회피를 적용하여 보다 지능적인 로봇 시스템을 구현한다.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.399-405
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• 2008

Recently, robot technology is actively going on progress to the field of various services such as home care, medical care, entertainment, and etc. Because these service robots are in use nearby person, they need to be operated safely even though hardware and software faults occur. This paper proposes a Fault-Tolerant middleware for a robot system, which has following two characteristics: supporting of heterogeneous network interface and processing of software components and network faults. The Fault-Tolerant middleware consists of a Service Layer(SL), a Network Adaptation Layer(NAL), a Network Interface Layer(NIL), a Operating System ion Layer(OSAL), and a Fault-Tolerant Manager(FTM). Especially, the Fault-Tolerant Manager consists of 4 components: Monitor, Fault Detector, Fault Notifier, and Fault Recover to detect and recover the faults effectively. This paper implements and tests the proposed middleware. Some experiment results show that the proposed Fault-Tolerant middleware is working well.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.190-196
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• 2016

This paper proposes a humanoid robot performance system for performing in public places, such as an event, exhibition, or street performance. The system of modular structures can be moved easily, and can be played by a module or a combination of modules. The system developed with open source-based software and hardware is easy to adapt and improve. The robot performance control program for controlling robots, displays, audios, videos, and performance instruments was developed using the open source language, Processing. The performance instruments were developed using the open source hardware, Arduino. The contents of the robot performance were composed of scene-specific image, background audio, computer graphics, and videos. For their control and synchronization, the performance control program communicates with the humanoid robots and the performance instruments. In addition, performance accessories required to represent the performance concepts are produced by 3D modeling and printing. In a public place, the robot performance is performed with the theme of celebrating a Halloween day.