• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.555-559
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• 2007

There are few representative humanoid robots including Japanese ASIMO from Honda and HUBO from KAIST. We cannot consider ASIMO and HUBO the perfect humanoid robots, however. The basic principles when developing humanoid robot is to make them to work in a similar way as human's movement of arm. In this paper, we proposed method of designing humanoid robotic arms based on the morphological.eurological analysis of human's arm tor robot's arm to work in a similar way as human's ann, and we also implemented arm movement control system to humanoids robot by using SERCOS communication.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.188-196
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• 2006

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate human-like arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.223-228
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• 2015

This paper analyses the torque characteristics of the shoulder and elbow joints of a humanoid robot arm that is useful for an object lifting and transferring task instead of human beings. For the purpose, some typical human lifting behaviors are considered, and various simulations for lifting and transferring an object have been performed by employing a humanoid robot arm having a simple configuration of shoulder and elbow joints. Through the simulation, it is shown that the torque patterns and ranges of the shoulder and elbow joints required for such a humanoid lifting and transferring task can be found earlier in the design of a humanoid robot arm. As a result, this effort is useful for us to design an effective robot arm.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.4
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• pp.500-505
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• 2007

Current humanoid robot technology has a problem of lacking opened methodology about mechanisms of analysis, design, implementation, and integration for robot development but is focused only on manufacture robot and implementation of technology. In this paper, to overcome problems of humanoid robots that have been shown since and for construction of new structure which satisfy the concept of opening, networking, and modularization that is the development direction of future robot, we proposed morphological and neurological model of human arm and design method of humanoid robot arm based on the each joint design and kinematics model.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2126-2131
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• 2005

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motions of a human are discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, mass, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant. Using the scaled geometry of the humanoid the imitation of actor's arm motions is achieved by solving an inverse kinematics problem formulated using optimization. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waiving and performing a statement in sign language are imitated by a humanoid through dynamics simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1153-1159
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• 2007

This paper presents the hardware implementation of nonlinear PID controllers for the ROBOKER humanoid robot arms. To design the nonlinear PID controller on an FPGA chip, nonlinear functions as well as the conventional PID control algorithm have to be implemented by the hardware description language. Therefore, nonlinear functions such as trigonometric or exponential functions are designed on an FPGA chip. Simulation studies of the position control of humanoid arms are conducted and results are compared. Superior performances by the nonlinear PID controllers are confirmed when disturbances are present. Experiments of humanoid robot arm control tasks are conducted to confirm the performance of our hardware design and the simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.487-496
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• 2020

For the purpose of next generation technology for robot perfomances, a RAoRA (Robot Actor on Robot Arm) structure was proposed using a robot arm joined with a humanoid robot actor. Mechanical analysis, machine design and fabrication were performed for motions combined with the robot arm and the humanoid robot actor. Kinematical analysis for 3D model, spline interpolation of positions, motion control algorithm and control devices were developed for movements of the robot actor. Preliminary visualization, simulation tools and integrated operation of consoles were constructed for the non-professionals to produce intuitive and safe contents. Air walk was applied to test the developed platform. The air walk is a natural walk close to a floor or slow ascension to the air. The RAoRA also executed a performance with 5 minute-running time. Finally, the proposed platform of robot performance presented intensive and live motions which was impossible in conventional robot performances.

• The Journal of the Korea institute of electronic communication sciences
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• v.2 no.4
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• pp.222-227
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• 2007

Applies the open type object modeling and a profile ring technique of ISO15754 standards and develops the development methodology which liberralizes about plan and embodiment of the humanoid robot which proposes.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.1
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.