• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

• 시큐리티연구
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• 제26호
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• pp.89-119
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• 2011

본 연구는 지능형 로봇에 대한 이해, 지능형 로봇의 위해성 분석, 지능형 로봇 안전관리 주요현황, 지능형 로봇 안전관리 추진방안 등을 통한 지능형 로봇 안전관리 발전방안을 제시하였다. 본 연구에서 도출된 연구결과는 다음과 같다. 첫째, 지능형 로봇 개발 및 보급 촉진법, 시행령, 시행규칙 등 관련법규에 지능형 로봇의 안전관리를 실질적으로 규제할 수 있는 조항을 신설하거나 별도의 법규를 제정하고, 나아가 윤리 및 안전 관련법규에도 지능형 로봇에 대한 안전관리 관련조항을 신설하는 방안을 추진해야 한다. 둘째, 지능형 로봇에 대한 안전관리를 보장하기 위해 국가적, 국제적인 합의를 통한 '로봇윤리헌장'의 제정이 필요하다. 이와 병행해 인간과 로봇의 공존을 위한 로봇윤리헌장의 대국민 홍보를 통해 일반인들의 지능형 로봇에 대한 안전관리 의식을 유도하고 지능형 로봇의 권리에 대한 이해를 제고하여야 한다. 셋째, 경호경비 관련 업계 및 학계는 지능형 로봇이 경호경비산업에 미치는 중대한 영향을 인식하고 지능형 로봇에 대한 안전관리 및 그 활용방안을 모색하여야 한다. 군사 로봇, 보안 로봇 등 지능형 로봇의 운용, 관리뿐만 아니라 이로부터 인간을 안전하게 보호하는 것도 경호경비의 한 분야로 부각될 전망이므로 이에 대한 적극적인 논의와 대응이 필요하다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 춘계학술대회 학술발표 논문집 제15권 제1호
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• pp.221-224
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• 2005

This paper proposes the system model that is more efficient and active than formal home automation system and it can conquer the limits of formal one using intelligent mobile robot. This system uses specialized intelligent mobile robot for home environment and the robot moves around home instead of human. We call the system model to HAuPIRS (Home Automation system using PDA based Intelligent Robot System). HAuPIRS control architecture is composed three parts and each part is User Level, Cognitive Level, Executive Level. It is easy to use system and possible to extend the home apparatusfrom new technology. We made the PBMoRo System (PDA Based Mobile Robot System) based on HAuPIRS architecture and verified the efficiency of the system model.

• 한국지능시스템학회논문지
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• 제15권4호
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• pp.486-491
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• 2005

본 논문에서는 기존 홈오토메이션 시스템보다 효율적이고 능동적인 시스템 모델을 제안하며, 기존 시스템의 한계점을 해결하기 위해서 지능형 이동 로봇을 사용한다. 제안된 시스템은 집안에서 사용하기에 적합하도록 특화된 로봇을 사용하며, 이 로봇은 사람 대신 집안을 돌아다닌다. 이 시스템 모델을 HAuPIRS (Home Automation system using PDA based Intelligent Robot System) 라고 부르기로 한다. HAuPIRS제어 구조는 사용자 레벨, 인지 레벨, 실행 레벨의 세 파트로 구성된다. 이 시스템은 사용하기 쉽고, 기술의 발전에 따른 새로운 가전기기가 나오더라도 확장이 가능하다 HAuPIRS제어 구조의 성능을 검증하기 위해서 HAuPIRS 제어 구조를 기반으로 한 PBMoRo System (PDA Based Mobile Robot System) 을 만들어 실험하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.393-394
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• 2007

Speaker Recognition for the Intelligent Service Robot is implemented in this paper. For this purpose, we perform speaker recognition based on Gaussian Mixture Model(GMM) and use robot platform called WEVER, which is a Ubiquitous Robotic Companion(URC) intelligent service robot developed at Intelligent Robot Research Division in ETRI. The experimental results reveals that the approach presented in this paper yields a good identification (89.00%) performance within 2 meter distance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.146.2-146
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• 2001

Recently, a need of non-industrial robot, such as service, medical, entertainment and house-keeping robot, has been increased. Therefore, the capability of robot which can do intelligent behavior like interaction with men and its environment become more prominent than the capability of executing simple repetitive task. To implement an intelligent robot which provides intelligent behavior, an effective system architecture including perception, learning, reasoning and action part is necessary. Control architectures for intelligent robot can be divided into two different classes. One is deliberative type controller which is applicate to high level intelligence like environment ...

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권3호
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• pp.246-252
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• 2005

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1575-1579
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• 2003

This paper present the control of an intelligent home robot based on home network. The existing research is almost research of independent robot. home network will be a way that equipments in home exchange information. As robot combine home network, robot will be more intelligent and more powerful. We benefit for that load is divided in home network environment. The robot which has ultrasonic sensors performs obstacle avoidance with the Fuzzy Algorithm. Ethernet serial converter transmit the measuring data of home to a home server and the home server accumulates data. The home server controls the robot and manages home according to the acquired data. This paper supposed the home network system that consist of home server, embedded robot and intelligent home robot.

• 한국정밀공학회지
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• 제26권5호
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.