• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.48-53
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• 2009

In this paper, we propose an efficient method of representing human emotions that are conveyed during conversations. In order to develop a robot that comes close to thinking, acting, and expressing like humans, many researches have been conducted. Among these researches, the proposed method is developed based upon 6 emotion identification systems. The proposed method first analyzes conversations between humans, decides an emotion on the basis of the analysis, and represents the emotion by an action, an image, and a sound. We implemented the proposed method using a hand-sized robot.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.535-542
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• 2012

Recently, the study on small-sized reconnaissance robot has been progressed through grafting robot technology to military fields for minimizing the casualties. Especially, throwable robots have been focusing for their's efficiency in anti-terror operation. However, it is impossible to launch throwable robot to long range(approximately 100m) by hand. So we need another type of robots, so called launchable robots, which can launch farther and is more accurate by launcher. In this paper, we presented the process of developments of launchable robots('launchbot') which are available for remote launch from collection of user's opinions to field test. Based on the opinions of users, we established the goal of development, designed and manufactured the robots. Through the field test, we found that our launchable robot satisfied the performance requirements.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.216-223
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• 2015

Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.10
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• pp.1205-1211
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• 2012

A marionette is a moving puppet that can be made to perform several actions by pulling wires connected to the puppet. Because a marionette is operated by hand, a stage performance with a human-sized marionette is impossible. However, a marionette robot operated using a wire controller could be used as a human-sized marionette to conduct a stage performance with other robots or actors. In addition, by using mobile stages that utilize mobile platforms, a wire controller, and the marionette robot body, the large marionette robot system designed in this study can be made to rotate and translate freely in a stage performance. The feasibility of the structure of the marionette robot wire control system is verified by using dynamics analysis. Furthermore, the efficiency and safety of the robot is demonstrated by manufacturing and operating a prototype robot.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.