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检索条件"机构=Department of Applied Robot Technology"

共 92 条记录，以下是21-30 订阅

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Designing of android head system by applying facial muscle mechanism of humans

Designing of android head system by applying facial muscle m...

引用

IEEE-RAS International Conference on Humanoid robots

作者： Ho Seok Ahn Dong-Wook Lee Dongwoon Choi Duk-Yeon Lee Manhong Hur Hogil Lee Department of Applied Robot Technology Korea Institute of Industrial Technology Korea

The facial system plays an important role in human-robot interaction. EveR-4 H33 is a head system for an android face controlled by thirty-three motors. It consists of three layers: a mechanical layer, an inner cover layer and an outer cover layer. Motors are attached under the skin and some motors are correlated with each other. Some expressions cannot be shown by moving just one motor. In addition, moving just one motor can cause damage to other motors or the skin. To solve these problems, a facial muscle control method that controls motors in a correlated manner is required. We designed a facial muscle control method and applied it to EveR-4 H33. We develop the actress robot EveR-4A by applying the EveR-4 H33 to the 24 degrees of freedom upper body and mannequin legs. EveR-4A shows various facial expressions with lip synchronization using our facial muscle control method.

关键词： Facial muscles Muscles Skin Humanoid robots Computer aided software engineering Androids

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Framework of grasping planning for multi-fingered robot hands

Framework of grasping planning for multi-fingered robot hand...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jae-Han Park Ji-Hun Bae Yong-Deuk Shin Sung-Woo Park Moon-Hong Baeg Department for Applied Robot Technology KITECH Ansan South Korea

ISBN: (纸本)9781457707223

In this paper, we present a framework of grasping planning for multi-fingered robot hands which is based on the planning scheme of human. Structure of the proposed grasping planner is composed of three sub planners: grasping type planner, opposition parameter planner and approach vector planner. This planner is based on the way of human's grasping plan, so it is suitable for learning of intelligences for grasping of human. Using this framework of grasping planning, we would like to utilize to study for robot's imitating of human's grasping plan intelligence.

关键词： Grasping Planning Humans Thumb robots Vectors

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Testing of Applying Emotional Behavior Decision Model to Cyber robots with Different Purposes

Testing of Applying Emotional Behavior Decision Model to Cyb...

引用

2010 International Conference on Test and Measurement (ICTM2010)

作者： Ho Seok Ahn Jin Young Choi Dong-Wook Lee Hogil Lee Woong Hee Shon Department of Applied Robot Technology Korea Institute of Industrial Technology School of Electrical Engineering and Computer Science Seoul National University Department of Applied Robot Technology Korea Institute of Industrial Technology

This paper introduces a test of applying an emotional behavior decision model to cyber robots with different *** emotional reaction is different from purpose of emotional robot,an emotional behavior decision model is designed for applying various emotional robots which have different *** model is designed based on linear dynamics and calculates emotions according to purposes of emotional *** implement a cyber robot system based on unit behaviors.A unit behavior indicates the smallest expressible behavior in each expression *** cyber robot expresses its behaviors without predefined behavior database.

关键词： Emotional behavior decision model,Emotional robot,Cyber robot,Unit behavior,Emotional probability

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Difference of efficiency in human-robot interaction according to condition of experimental environment

引用

4th International Conference on Social robotics, ICSR 2012

作者： Ahn, Ho Seok Lee, Dong-Wook Choi, Dongwoon Lee, Duk-Yeon Hur, Manhong Lee, Hogil Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Kyoto 619-0288 Japan

ISBN: (纸本)9783642341021

Human-robot Interaction is most important function for social robot systems. Android robot systems, which have human-like appearance, are used for interaction with humans because they have the merit of showing their emotions by similar way to humans. Lots of these robot systems are developed and verified their efficiency and performance by analyzing the experimental results from questionnaire method. However, the results from questionnaire method can be different from many conditions. In this paper, we analyze the difference of experimental results from questionnaire method by comparing three groups: the first group gains benefits by competition, the second group gains benefits without competition, and the last group does not gain anything. For these experiments, android head system EveR-4 H33, which has 33 motors inside of head to show its facial expressions, is used. © 2012 Springer-Verlag.

关键词： Human robot interaction

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Appropriate emotions for facial expressions of 33-DOFs android head EveR-4 H33

Appropriate emotions for facial expressions of 33-DOFs andro...

引用

2012 21st IEEE International Symposium on robot and Human Interactive Communication, RO-MAN 2012

ISBN: (纸本)9781467346054

There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33. © 2012 IEEE.

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Parallel Implementations of Digital Focus Indices Based on Minimax Search Using Multi-Core Processors

Parallel Implementations of Digital Focus Indices Based on M...

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作者： Kim, HyungTae Lee, Duk-Yeon Choi, Dongwoon Kang, Jaehyeon Lee, Dong-Wook Digital Transformation R&D Department Korea Institute of Industrial Technology Ansan Gyeonggi15588 Korea Republic of Applied Robot R&D Department Korea Institute of Industrial Technology Ansan Gyeonggi15588 Korea Republic of

A digital focus index (DFI) is a value used to determine image focus in scientific apparatus and smart devices. Automatic focus (AF) is an iterative and time-consuming procedure;however, its processing time can be reduced using a general processing unit (GPU) and a multi-core processor (MCP). In this study, parallel architectures of a minimax search algorithm (MSA) are applied to two DFIs: range algorithm (RA) and image contrast (CT). The DFIs are based on a histogram;however, the parallel computation of the histogram is conventionally inefficient because of the bank conflict in shared memory. The parallel architectures of RA and CT are constructed using parallel reduction for MSA, which is performed through parallel relative rating of the image pixel pairs and halved the rating in every step. The array size is then decreased to one, and the minimax is determined at the final reduction. Kernels for the architectures are constructed using open source software to make it relatively platform independent. The kernels are tested in a hexa-core PC and an embedded device using Lenna images of various sizes based on the resolutions of industrial cameras. The performance of the kernels for the DFIs was investigated in terms of processing speed and computational acceleration;the maximum acceleration was 32.6× in the best case and the MCP exhibited a higher performance. Copyright © 2023 KSII.

关键词： Iterative methods

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Leg mechanism design for SLIP model of hydraulic quadruped robot

Leg mechanism design for SLIP model of hydraulic quadruped r...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jaehong Seo Jungsan Cho Byung-Yun Park Jinhyun Kim Sangdeok Park Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Department of Intelligent Robot Engineering University of Science & Technology Daejeon Korea

ISBN: (纸本)9781479953349

The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution. The SLIP design based leg is able to do decoupled swing motion and extension motion. Also this study has focused on improving the straightness of extension motion.

关键词： Legged locomotion Joints Actuators Springs robot sensing systems Hip

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Dependable grasping strategy for service robots using Fine Approaching Positions and adaptive hands

Dependable grasping strategy for service robots using Fine A...

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SICE Annual Conference

作者： Moosung Choi Byunghun Hwang Eun-Cheol Shin Kwang-Woong Yang Hong-Seok Kim Department for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

Grasping strategies to grasp various shapes and postures of objects for service robots are presented in this paper. Because the performance of algorithms for the grasp problem is closely connected with the structure and functions of hands, both of these should be considered simultaneously. It is our procedure that searching the optimal approaching position using objects and shapes database in the first place, and then grasping the real objects using adaptive hands. The optimal FAPs (Fine Approaching Positions) generated by solving the problems of collision and variety of postures are verified by simulation.

关键词： Grasping Service robots Financial advantage program Shape Kinematics Knowledge based systems Spatial databases Computational geometry Sorting robot sensing systems

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Design of a personalized r-learning system for children

Design of a personalized r-learning system for children

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2010 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： W.H. Ko S.M. Lee K.T. Nam W.H. Shon S.H. Ji Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

This paper introduces the r-learning (robot-learning) system that utilizes robotic interactions to personalize instructions for individual children. A child who is not familiar with using an educational tool to study could learn readily from educational contents through various interactions with a robot which is based on the behavior control. The contents which are chosen according to a child's learning data extracted by analysis from human-robot interaction data could lift the educational effectiveness. An r-learning scenario is designed by using Petri net to handle exception occurred in a learning process. The robot contents maker and the Open API for operating a robot are described as management utilities for a personalized r-learning system.

关键词： Servers Electronic learning robot sensing systems Hardware Service robots

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Development of a robot behavior controller for an r-learning system using OPRoS

Development of a robot behavior controller for an r-learning...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Jae-Seong Han Sang-Moo Lee Byung-Wook Choi Department Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this paper, we suggest an r-learning (robot-learning) system for children who are unfamiliar with educational tools. Our system is characterized with the following features. Firstly, the system provides children with personalized educational instructions considering their learning ability. In our system, learning contents for them are selected according to their learning history extracted from human-robot interaction data. Secondly, our system helps them learn educational contents easily and joyfully through various behavioral interactions with a robot. Third, r-learning scenarios are modeled with Petri-net to handle exception during learning and robot contents can be composed by use of predefined robot behaviors. Finally, we implement these system S/W using OPRoS which is a software platform for robotic services.

关键词： Manganese

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