• 한국기계가공학회지
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• 제21권8호
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• pp.9-18
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• 2022

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2243-2247
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• 2005

If a personal robot is popularized like a personal computer in the future, many kinds of robots will appear and the number of manufacturers will increase as a matter of course. In such circumstances, it can be inefficient, in case each manufacturer makes a whole platform individually. The solutions for this problem are to modularize a robot component (hardware and software) functionally and to standardize each module. Each module is developed and sold by each special maker and an end-product company purchases desired modules and integrates them. The standardization of a module includes the unification of the electrical, mechanical and software interface. In this paper, a few prototypes developed based on the concept of this study are introduced and possibility which can be standard platform is verified. Each prototype has merits and demerits, and a new structure of the hardware platform considered them is proposed Also the software architecture to develop the standardized and modularized platform is introduced and its detailed structure is described. The name of a method and the way to use that are defined dependently on the standard interfaces in order to use a module in other modules. Each module consists of a distributed object and that can be implemented in the random programming language and platform. It is necessary to study on the standardization of a personal robot after this steadily.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.130-133
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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 a 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). This paper reports the interim results of the research of a system configuration that enhances the physical intimacy relationship in the symbiosis of the human and the robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.422-424
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• 1992

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2007년도 추계학술대회
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• pp.481-492
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• 2007

The information technology intensive society rapidly moves from manufacturing industry to information technology industry. This paradigm of Robot is depending on intelligent Robot instead of labor. The conventional Robot worked through environmental variation and shift of job. This Robot is unactively response to men's mandate. And, this Robot have had iterative jobs through manipulation of men. But, this intelligent Robot have new technology through society paradigm shift. The outstanding feature of this Robot is perception function and cognition, mobility and manipulation. The definition of original Robot means forceful and tedious, slavery job. This is from robota, robotnick of the Czech Republic. Karel Capek, a playwriter of the Czech Republic use of this letter at 'Rossum's Universal Robots'.

• 로봇학회논문지
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• 제14권1호
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• pp.22-30
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• 2019

For effective human-robot interaction, robots need to understand the current situation context well, but also the robots need to transfer its understanding to the human participant in efficient way. The most convenient way to deliver robot's understanding to the human participant is that the robot expresses its understanding using voice and natural language. Recently, the artificial intelligence for video understanding and natural language process has been developed very rapidly especially based on deep learning. Thus, this paper proposes robot vision to audio description method using deep learning. The applied deep learning model is a pipeline of two deep learning models for generating natural language sentence from robot vision and generating voice from the generated natural language sentence. Also, we conduct the real robot experiment to show the effectiveness of our method in human-robot interaction.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.860-865
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• 2010

This paper deals with gait assisting rehabilitation robot which helps SCI patient walk again. We propose new concept of orthotic for robot considering motions of Hip and Knee Joints, and how to fit the robot to a user in terms of weight balance and comfortable standing. Then we describe our first engineering sample being designed based on the passive orthotic and show how to make the robot work for SCI patient in basic operation.

• Asian Journal of Innovation and Policy
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• 제8권1호
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• pp.73-96
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• 2019

This study suggests a new approach for identifying core robot tech-nologies based on technological cross-impact. Specifically, the approach applies data mining techniques and multi-criteria decision-making methods to the co-classification information of registered patents on the robots. First, a cross-impact matrix is constructed with the confidence values by applying association rule mining (ARM) to the co-classification information of patents. Analytic network process (ANP) is applied to the co-classification frequency matrix for deriving weights of each robot technology. Then, a technique for order performance by similarity to ideal solution (TOPSIS) is employed to the derived cross-impact matrix and weights for identifying core robot technologies from the overall cross-impact perspective. It is expected that the proposed approach could help robot technology managers to formulate strategy and policy for technology planning of robot area.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.807-810
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• 1997

Digital control of robot manipulator employs discrete-time robot models. It is important to explore effective discrete-time robot models and to analyze their properties in control system designs. This paper presents a new type discrete-time robot model. The model is derived by using trapezoid rule to approximate the convolution integral term, then eliminating nonlinear force terms from robot dynamical equations. The new model obtained has very simple structure, and owns the properties of independence to the nonlinear force terms. According to evaluation criteria, three aspects of the model properties: model accuracy, model validity range and model simplicity are examined and compared with commonly used discrete-time robot models. The validity of the proposed model and its advantages to control system designs are verified by simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1025-1030
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• 2005

This paper deals with the emotional model of the software-robot. The software-robot requires several capabilities such as sensing, perceiving, acting, communicating, and surviving. and so on. There are already many studies about the emotional model like KISMET and AIBO. The new emotional model using the modified friendship scheme is proposed in this paper. Quite often, the available emotional models have time invariant human respond architectures. Conventional emotional models make the sociable robot get around with humans, and obey human commands during robot operation. This behavior makes the robot very different from real pets. Similar to real pets, the proposed emotional model with the modified friendship capability has time varying property depending on interaction between human and robot.