• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• Smart Structures and Systems
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• v.11 no.2
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• pp.135-161
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• 2013

This work presents a test platform for the assessment and benchmarking of modern actuators which have been specifically developed for the new field and service robotics applications. This versatile platform has been designed for the comparative analysis of actuators of dissimilar technology and operating conditions. It combines a modular design to adapt to linear and rotational actuators of different sizes, shapes and functions, as well as those with different load capacities, power and displacement. This test platform emulates the kinematics of robotic joints while an adaptive antagonist-load actuator allows reproducing the variable dynamic loads that actuators used in real robotics applications will be subjected to. A data acquisition system is used for monitoring and analyzing test actuator performance. The test platform combines hardware and software in the loop to allow actuator performance characterization. The use of the proposed test platform is demonstrated through the characterization and benchmarking of three controllable impedance actuators recently being incorporated into modern robotics.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.937-938
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• 2006

There are lots of intelligent service robots in these days. People are unwilling to do routine works, dangerous works, and difficult works. But a robot can do these works instead of human. We introduce a intelligent service robot for unmanned store management. The robot can detect and recognize a person, deliver some goods, manage a store, and answer the telephone. We have developed the robot and tested the performance.

• International Journal of Internet, Broadcasting and Communication
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• v.10 no.3
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• pp.35-41
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• 2018

Smart device has become an affordable main computing resource for robotic ap-plications in accordance with a fast growth of mobile internet environment. Since the computing power of smart device has been increased, smart device based ro-bot system attempts to replace traditional robot applications with laptop-based system. Methodologies for acquisition of remote sensory information and control of various types of robots using smart device have been proposed recently. In this paper, we propose a robot control system using a monitoring program and a communication protocol. The proposed system is a combination of an educa-tional programming oriented robot named EPOR-S. as small service robot plat-form and a smart device. Through a simulation study using image processing, the feasibility of combination of the proposed robot monitoring program and control system was verified.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.169-176
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• 2010

Robotic software has been dramatically complicated as performing intelligent service tasks. These types of robots demand a very powerful software framework to make them easy. Robotic software framework means an integrated software environment that simplifies jobs of robotic software engineer by providing tools, reusable components, and runtime environments. Finally it reduces the project cost. There are lots of works related with them. Among them we focus on five frameworks that are MSRDS, ERSP, OROCOS, OpenRTM, and OPRoS. In terms of intelligent service robot, the study on robotic software frameworks is very important. And outlook on them is also very important in the sense of that the robotic software frameworks should be used to initiate service robot market.

• 한국정보교육학회:학술대회논문집
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• 2010.01a
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• pp.343-346
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• 2010

최근 지능형 교육서비스로봇을 이용한 교육적 효과가 입증되면서, 유치원에 상용화가 시작되었으며, 2010년에는 초등학교 방과후 학교 영어수업을 위한 기술 개발과 필드 적용 연구가 진행되어 로봇보조학습, 즉 서비스로봇에 의한 r-Learning 패러다임의 본격적인 도래를 예고하고 있다. 이에 본 연구에서는 교육용 로봇의 개념과 종류를 정의하고, 관련 연구 동향을 살펴보았다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.36.2-36
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• 2002

.Developing a skeletal framework artificial hand similar to real human hand. .Developing a micro artificial muscle actuated by pneumatic power. .Building a micro pneumatic system including micro atuators and its control devices. .Building a soft driving system for Service robots. .Designning and Fabricating a multi-channel micro pneumatic valve using MEMS technology.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.3
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• pp.300-305
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• 2005

Context-aware intelligent services are essential in ubiquitous computing and intelligent robots environments, which make decisions on which services to start with the consideration of surrounding contexts. In the ubiquitous and intelligent environments, context-aware service engines should be light-weighted due to the resource restrictions on the devices. This paper presents a context-aware service engine which is designed for light-weighted devices. The context-aware service engine has been designed with special attention to improve the execution speed and to minimize the memory requirement.

• Journal of Digital Convergence
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• v.16 no.7
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• pp.89-96
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• 2018

In this paper, we proposed a parametric estimation method for estimating H/W cost by using the development data of professional service robot in Korea. In addition, we derived the factors and weights that we can estimate the costs depending on the application environmental conditions of the robot. For the analysis, we developed the equation of professional service robot cost estimation using parametric method. We also derived the adjustment factors and following weights through FGI and Delphi for environmental conditions. We have developed a cost estimation equation that reflects the weight, volume, and manufacturing difficulty, and can derive a relational equation that reflects the environmental factors(dust/water, heat/cold, safety, test, technology innovation). This provides an objective basis for estimating the cost of professional service robots and will lead to ongoing research for estimating the H/W development cost of professional service robots. In the future, we will increase reliability by collecting abundant data, and will strengthen models through finding functional factors.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.5
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• pp.555-564
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• 2016

This paper proposes a time slot allocation scheme for military patrol environments. This proposal comes from analysis of traffic properties in a military patrol environment. In the near future, robots are expected to explore enemy grounds and measure threat, taking the place of human patrol. In order to control such robots, control messages must be extremely accurate. One mistake from the control center could cause a tragedy. Thus, high reliability must be guaranteed. Another goal is to maintain a continual flow of multimedia data sent from patrol robots. That is, QoS (Quality of Service) must be guaranteed. In order to transmit data while fulfilling both attributes, the per-path based centralized TDMA slot allocation scheme is recommended. The control center allocates slots to robots allowing synchronization among robots. Slot allocation collisions can also be avoided. The proposed scheme was verified through the ns-3 simulator. The scheme showed a higher packet delivery ratio than the algorithm in comparison. It also performed with shorter delay time in the downlink traffic transmission scenario than the algorithm in comparison.