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2008 Mediterranean Conference on Control Automation, vol.1

作者： Sunghoi Huh Giovanni Tonietti Antonio Bicchi Human-friendly Welfare Robot System Engineering Research Center HWRS-ERC KAIST South Korea Interdepartmental Research Center E. Piaggio Faculty of Engineering University of Pisa Italy

In this paper we present a robust adaptive controller based on a neural network (NN) for a variable stiffness actuator (VSA). The controller is able to independently set the mechanical stiffness and position at the joint shaft to guarantee robustness with respect to slowly time-varying and unmodeled friction coefficients affecting the dynamics of the actuator. The lumped uncertainties of the VSA including unmodeled dynamics are considered and approximated by a simple NN so that the controlled system is asymptotically stable, and remains effective while process conditions vary. To cope with the reconstruction error of the NN, a sliding mode like additional robust control term is introduced. The proofs for the uniformly ultimately bounded (UUB) and uniform asymptotic (UAS) stabilities for the closed-loop system are provided in detail via Lyapunov theory. Simulation and experimental results are reported in support of both validity and performance of the proposed approach.

关键词： Variable Stiffness Actuator Robust Adaptive Control Neural Networks Independent Control of Position and Stiffness

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Body motion editor for sign language avatar

Body motion editor for sign language avatar

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International Conference on Control, Automation and systems

作者： Oh, Young-Joon Park, Kwang-Hyun Bien, Zeungnam Human-friendly Weifare Robot System Engineering Research Center KAIST Dept. of Electrical Engineering and Computer Science KAIST

ISBN: (纸本)9788995003879

Korean sign language is complex visual-spatial language most used in deaf society and is expressed by gestures using hands and other movements such as facial expression and body posture. In this paper, we present a body motion editor to control joint angles of whole body as well as facial expression of a sign avatar since deaf people express facial motion more often than hearing people to communicate easily with another signer. The body motion is represented by body motion symbols which construct a body motion database together with facial expression and complexion. The developed editor can help deaf people to communicate with hearing people using a sign avatar.

关键词： Korean sign language sign avatar body motion symbol GUI

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A Steward robot to Help Daily Activities in a Smart House Environment

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IFAC Proceedings Volumes 2008年第2期41卷 11738-11743页

作者： Kwang-Hyun Park Hyong-Euk Lee Zeungnam Bien Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Republic of Korea (Tel: +82-42-869-5419 Human-friendly Welfare Robot System Engineering Research Center 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Republic of Korea (Tel: +82-42-869-8415 Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Republic of Korea (Tel: +82-42-869-3419

Independence of the people in need in their activities of daily living becomes a matter of vital importance to any society in the years to come. As an approach to achieve independence, this paper addresses the problem of controlling assistive home environment emphasizing human-friendly human-machine interaction. To provide inhabitants with easily accessible, convenient, and cost-effective environment for independent living, we introduce a new service robot categorized into a steward robot as an intermediate agent between inhabitants and complex smart house environment. The learning capability and emotional interaction of the robot can enhance human-friendliness in various tasks. A learning system enables the robot to provide customized services by accumulating knowledge of the user's behavior patterns in daily activities. An emotional interaction system generates facial expressions to communicate with the user in a human-friendly manner. We have developed two types of steward robots: a software type to use everywhere by personal computing devices such as a PDA and a cellular phone, and a hardware type to provide tangible services with physical interaction by two robotic arms and a mobile base.

关键词： Steward robot Smart house human-robot interaction Learning of behavior patterns Emotional interaction

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Korean manual alphabet (KMA) recognition for composition of a Korean syllable character

Korean manual alphabet (KMA) recognition for composition of ...

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2nd International Conference on Convergent Information Technology, ICCIT 07

作者： Oh, Young-Joon Park, Kwang-Hyun Bien, Zeungnam Human-friendly Welfare Robot System Engineering Research Center Korea Advanced Institute of Science and Technology Dept. of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology

ISBN: (纸本)0769530389

Sign language is complex visual-spatial language most used in deaf society, and is a representative example of hand gesture with linguistic structure. Korean manual alphabet is a manual alphabet that expresses the vowel and the consonant of Korean sign language. This paper presents a system which recognizes the Korean manual alphabet (KMA) using a USB camera and translates into a normal Korean character. The system captures images from a camera and extracts skin color region from an image, and finds a hand region. The system detects a skin colored hand without particular cloth in a complex background. We use 33 KMA hand shapes as template images, and the system compares hand shape with template images using a correlation coefficient method and composes a text syllable of initial consonant, medial vowel and final consonant. © 2007 IEEE.

关键词： Cameras

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Automatic Generation of Conversational robot Gestures for human-friendly Steward robot

Automatic Generation of Conversational Robot Gestures for Hu...

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IEEE International Workshop on robot and human Communication (ROMAN)

作者： Heon-Hui Kim Hyong-Euk Lee Yong-hwi Kim Kwang-Hyun Park Z. Zenn Bien Human-friendly Welfare Robot System Engineering Research Center KAIST South Korea Department of Electrical Engineering and Computer Science KAIST South Korea

Recently, in service robotics area, increasing attention is being paid on interaction capability of robot for human-being as well as its task performing capability. In this paper, in particular, an automatic gesture generation methodology for conversational interaction of service robots is presented toward more human-friendly human-robot interaction. From the survey on the results in the psychology field, we first categorized the target gestures into the three types of gestures, which are basic, supplementary/emphasizing, and finishing/interconnective gestures with their corresponding unit gesture components. Then, a set of mapping rules have been extracted for gesture generation based on observing human behavioral patterns during conversation, by means of morpheme decomposition and analysis. From the given text input in Korean, the proposed system tries to generate robotic gestures, which consist of the head and the arm motions, by gesture selection and motion scheduling schemes. Finally, we discuss on the effectiveness of the proposed system with the simulated motions of robot as an initial attempt to apply in a practical system.

关键词： robotics and automation Service robots human robot interaction Cognitive robotics Scheduling Electronic mail Psychology Finishing systems engineering and theory Computer science

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Body Motion Editor for Sign Language Avatar

Body Motion Editor for Sign Language Avatar

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2007 International Conference on Control, Automation and systems (ICCAS 2007), vol.2

作者： Young-Joon Oh Kwang-Hyun Park Zeungnam Bien Human-friendly Welfare Robot System Engineering Research Center KAIST South Korea Dept. of Electrical Engineering and Computer Science KAIST South Korea Dept. of Electrical Engineering and Computer Science KAIST

关键词： Korean sign language Sign avatar Body motion symbol GUI

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Korean Manual Alphabet (KMA) Recognition for Composition of a Korean Syllable Character

Korean Manual Alphabet (KMA) Recognition for Composition of ...

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International Conference on Convergence Information Technology

作者： Young-Joon Oh Kwang-Hyun Park Zeungnam Bien Human-friendly Welfare Robot System Engineering Research Center Korea Advanced Institute of Science and Technology South Korea Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology South Korea

ISBN: (纸本)9781424431779

关键词： Character recognition Shape Handicapped aids Deafness Natural languages Cameras Hidden Markov models Universal Serial Bus Skin Information technology

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Korean Manual Alphabet (KMA) Recognition system Using USB Camera

Korean Manual Alphabet (KMA) Recognition System Using USB Ca...

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International Symposium on Information Technology Convergence (ISITC)

Sign language is complex visual-spatial language most used in deaf society, and is a representative example of hand gesture with linguistic structure. Korean manual alphabet is a manual alphabet that augments the vowel and consonant of Korean sign language. This paper presents a system which recognizes the Korean manual alphabet (KMA) using a USB camera and translates into a normal Korean character. The system captures images from a camera and extracts skin color regions from an image, and finds a hand region. The system detects a hand without particular cloth in a complex background. We use 14 KMA hand shape as template images, and the system compares hand shape with template images using a correlation coefficient method.

关键词： Universal Serial Bus Cameras Shape Handicapped aids Deafness Skin Natural languages Image recognition Image processing Colored noise

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Walking Phase Recognition for People with Lower Limb Disability

Walking Phase Recognition for People with Lower Limb Disabil...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Sang Wan Lee Taeyoub Yi Jeong-Su Han Hyoyoung Jang Heon-Hui Kim Jin-Woo Jung Zeungnam Bien Electrical Engineering and Computer Science Department Korean Advanced Institute of Science and Technology Daejeon South Korea Core Technology Laboratory Digital Appliances Research and Development Center Samsung Electronics Company Limited Suwon South Korea Human-friendly Welfare Robot System Engineering Research Center Korean Advanced Institute of Science and Technology Daejeon South Korea Computer Engineering Department Dongguk University Seoul South Korea

This paper presents a total solution on EMG signal-based walking phase recognition for people with lower limb disability. Various environmental factors such as sensed location, walking speed, and ground inclination are taken into consideration in all the phases of signal sensing, feature extraction, feature selection, and classification. Based on analysis on fourteen well-known feature extraction methods in varying environmental situation, this paper proposes a methodology for selecting a good feature set, and then demonstrates effectiveness of the proposed approach with the classification results.

关键词： Legged locomotion Electromyography Muscles Feature extraction Environmental factors humans Rehabilitation robotics robots systems engineering and theory Working environment noise

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