• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.6 s.312
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• pp.9-15
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• 2006

The recent development in robot field shows that service robot which interacts with human and provides specific service to human has been researched continually. Especially, robot for human welfare becomes the center of public concern. At present time, guide robot is priority field of general welfare robot and helps the blind keep safe path when he walks outdoor. In this paper, guide robot provides not only collision avoidance but also the best walking direction and velocity to blind people while recognizing environment information from various kinds of sensors. In addition, it is able to provide the most safe path planing on behalf of blind people.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.573-579
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• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• Proceedings of the Korea Information Processing Society Conference
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• 2006.05a
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• pp.621-624
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• 2006

본 논문은 기존의 수화 발생 시스템이 갖는 처리 성능의 한계와 신체요소의 움직임에 대한 문제점을 지적하고, 이를 개선하기 위해 하이퍼 수화문장을 제안한다. 하이퍼 수화문장은 기존 수화문장의 구조를 확장하여 수화단어와 신체효소의 동작기호로 구성된 수화문장이다. 제안한 하이퍼 수화문장 생성 방법에 따라 하이퍼 수화어절을 연결하여 수화동작을 합성하고 수화문장에 대한 아바타의 움직임을 실제 수화자와 유사하게 생성하는 시스템을 보인다.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.210-217
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• 2009

This paper introduces a design of multi-dimensional complex emotional model for various complex emotional expression. It is a novel approach to design an emotional model by comparison with conventional emotional model which used a three-dimensional emotional space with some problems; the discontinuity of emotions, the simple emotional expression, and the necessity of re-designing the emotional model for each robot. To solve these problems, we have designed an emotional model. It uses a multi-dimensional emotional space for the continuity of emotion. A linear model design is used for reusability of the emotional model. It has the personality for various emotional results although it gets same inputs. To demonstrate the effectiveness of our model, we have tested with a human friendly robot.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.739-740
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• 2006

본 논문에서는 입력한 데이터를 분석하고 비교하여 손 모양 데이터 편집기의 기준 손 모양을 결정하는 방법을 제안한다. 즉, 입력한 손 모양 데이터에 대해 빈도수 혹은 평균값을 사용하여 기준 손 모양을 결정하는 방법을 제안한다. 입력한 손 모양 데이터로부터 제안한 방법을 통해 얻어진 손 모양이 실제 표현하고 자 한 손 모양과 일치하는지 실험을 통해 비교하였는데, 6,135개의 입력 데이터에 대해 두 가지 방법 모두 90.6% 일치하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.29.2-29
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• 2001

For the design of human-centered systems in which a human and machine such as a robot form a human-in system, human-friendly interaction/interface is essential. Human-friendly interaction is possible when the system is capable of recognizing human biosigns such as5 EMG Signal, hand gesture and facial expressions so the some humanintention and/or emotion can be inferred and is used as a proper feedback signal. In the talk, we report our experiences of applying the Soft computing techniques including Fuzzy, ANN, GA and rho rough set theory for efficiently recognizing various biosigns and for effective inference. More specifically, we first observe characteristics of various forms of biosigns and propose a new way of extracting feature set for such signals. Then we show a standardized procedure of getting an inferred intention or emotion from the signals. Finally, we present examples of application for our model of rehabilitation robot named.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.1-8
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• 2006

In this paper, we propose a methodology for classifying types of lower limb disability and their mechanical structure, based on extensive survey of previous developments. We also propose a task-oriented design with human-friendly and energy-efficient assistive system. The result can be used for optimal design of wearable walking-assistive robot considering the type of disability and the content of task.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.58-65
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• 2006

The emotional interface is essential technology for the robot to provide the proper service to the user. In this research, we developed emotional components for the service robot such as a neural network based facial expression recognizer, emotion expression technologies based on 3D graphical face expression and joints movements, considering a user's reaction, behavior selection technology for emotion expression. We used our humanoid robots, AMI and AMIET as the test-beds of our emotional interface. We researched on the emotional interaction between a service robot and a user by integrating the developed technologies. Emotional interface technology for the service robot, enhance the performance of friendly interaction to the service robot, to increase the diversity of the service and the value-added of the robot for human. and it elevates the market growth and also contribute to the popularization of the robot. The emotional interface technology can enhance the performance of friendly interaction of the service robot. This technology can also increase the diversity of the service and the value-added of the robot for human. and it can elevate the market growth and also contribute to the popularization of the robot.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.120.1-120
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• 2001

This paper proposes a prototype of a safe and reliable wheelchair robot with Human Robot Interaction (HRI). Since the wheelchair users are usually the handicapped, the wheelchair robot must guarantee the safety and reliability for the motion while considering users intention, A single color CCD camera is mounted for input user´s command based on human-friendly gestures, and a ultra sonic sensor array is used for sensing external motion environment. We use face and hand directional gestures as the user´s command. By combining the user´s command with the sensed environment configuration, the planner of the wheelchair robot selects an optimal motion. We implement a prototype wheelchair robot, MR, HURI (Mobile Robot with Human Robot Interaction) ...