This paper proposes a model predictive controller of robot manipulators using a genetic algorithm to secure the best performance by performing parameter optimization with the genetic algorithm. Genetic algorithm is a natural evolutionary process modeled as a computer algorithm and has excellent performance in global optimization, so it is useful for tuning control parameters. The sliding mode controller and inverse dynamics controller are included in the lower part of the model prediction controller to minimize the problems caused by non-linearity and uncertainty of the robot manipulator. The performance superiority of the proposed method as described above has been confirmed in detail through a simulation study.

The role of QR Code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR Codes and the convenience of producing and attaching a lot of information within QR Codes have been raised, and many of these reasons have made QR Codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR Codes with the same horizontal and vertical sides, and the error is to create a QR Code robot with accuracy to reach within 3mm. This paper focuses a study on the speculative navigation using auxiliary encoder during the development of QR Code-aware indoor mobility robots.

Non-verbal communication is important in human interaction. It provides a layer of information that complements the message being transmitted. This type of information is not limited to human speakers. In human– robot communication, increasing the animacy of the robotic agent—by using non-verbal cues—can aid the expression of abstract concepts such as emotions. Considering the physical limitations of artificial agents, robots can use light and movement to express equivalent emotional feedback. This study analyzes the effects of LED and motion animation of a spherical robot on the emotion being expressed by the robot. A within-subjects experiment was conducted at the University of Tsukuba where participants were asked to rate 28 video samples of a robot interacting with a person. The robot displayed different motions with and without light animations. The results indicated that adding LED animations changes the emotional impression of the robot for valence, arousal, and dominance dimensions. Furthermore, people associated various situations according to the robot’s behavior. These stimuli can be used to modulate the intensity of the emotion being expressed and enhance the interaction experience. This paper facilitates the possibility of designing more affective robots in the future, using simple feedback.

Background: Robot-assisted gait training (RAGT) is an effective method for walking rehabilitation. Additionally, the body weight support (BWS) system reduces muscle fatigue while walking. However, no previous studies have investigated the effects of RAGT with BWS on isokinetic strength of quadriceps and hamstring muscles. Objects: The purpose of this study was to investigate the effects of torque, work, and power on the quadriceps and hamstring muscles during RAGT, using the BWS of three conditions in healthy subjects. The three different BWS conditions were BWS 50%, BWS 20%, and full weight bearing (FWB). Methods: Eleven healthy subjects (7 males and 4 females) participated in this study. The Walkbot_S was used to cause fatigue of the quadriceps and hamstring muscles and the Biodex Systems 4 Pro was used to measure the isokinetic torque, work, and power of them. After RAGT trials of each of the three conditions, the subjects performed isokinetic concentric knee flexion and extension, five at an angular velocity of 60°/s and fifteen at an angular velocity of 180°/s. One-way repeated analysis of variance was used to determine significant differences in all the variables. The least significant difference test was used for post-hoc analysis. Results: On both sides, there were significant differences in peak torque (PT) of knee extension and flexion between the three BWS conditions at an angular velocity of 60°/s and 180°/s conditions. A post-hoc comparison revealed that the PT in the BWS 50% was significantly greater than in the BWS 20% and the FWB and the PT in the BWS 20% was significantly greater than in the FWB. Conclusion: The results of this study suggest that the lower BWS during RAGT seems to lower the isokinetic torque, work, and power of the quadriceps and hamstring muscles because of the muscle fatigue increase.

목적 : 본 연구는 상지운동장애를 가진 아동에게 상지재활로봇치료가 기능회복에 미치는 영향에 대하여 문 헌을 고찰하고 그 효과를 메타분석을 통해 알아보고자 한다. 연구방법 : 국외 검색엔진을 이용하여 자료를 수집하였다. 주요 검색용어는 ‘Upper extremity’, ‘Robotic’, ‘Rehabilitation’, ‘Child’ 등이 사용되었다. 2010년 1월부터 2020년 12월까지 게재된 연구 중 선정기준에 적합한 논문 22편을 선정하여 분석하였다. 결과 : 연구의 질적 분석 및 계량적 메타분석, 상지 재활로봇의 종류와 로봇 치료 전·후로 사용된 측정도 구를 분석하였다. 상지운동장애를 가진 아동에게 상지재활로봇치료의 효과는 큰 효과크기로 나타났으며, 통계적으로 유의하였다(p < .05). 결론 : 상지운동장애를 가진 아동에게 상지재활로봇의 치료는 로봇의 종류와 상관없이 기능회복에 효과적 임을 알 수 있었다. 이것은 임상에서 아동에게 상지 재활치료를 위한 치료방법으로 객관적인 근거가 될 수 있을 것이다.

With the recent development of autonomous driving technology, many researchers have studied autonomous mobile robots. Accordingly, they are developing diverse mobile robot actuators. However, most actuators mainly use reducers made of chains, belts, multi-stage gears, etc. So the volume and size of the actuators increase, and power transmission efficiency tends to be relatively low. Therefore, this study has proposed the reducer of the mobile robot actuator using a complex planetary gear train with small volume and high power transmission efficiency, and has confirmed the stability of the proposed reducer through finite element analysis.

The role of QR Code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR Codes and the convenience of producing and attaching a lot of information within QR Codes have been raised, and many of these reasons have made QR Codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR Codes with the same horizontal and vertical sides, and the error is to create a QR Code robot with accuracy to reach within 3mm. This paper focuses a suggestion of control method in QR Code-aware indoor mobility robots.

The role of QR code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR codes and the convenience of producing and attaching a lot of information within QR codes have been raised, and many of these reasons have made QR codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR codes with the same horizontal and vertical sides, and the error is to create a QR code robot with accuracy to reach within 3mm. This paper focuses on the driving operation techniques during the development of QR code-aware indoor mobility robots.

The role of QR code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR codes and the convenience of producing and attaching a lot of information within QR codes have been raised, and many of these reasons have made QR codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR codes with the same horizontal and vertical sides, and the error is to create a QR code robot with accuracy to reach within 3mm. This paper focuses on the moving control model during the development of QR code-aware indoor mobility robots.

The paper studied the climbing structure and magnet selection method of exploration platform utilized for large-scale steel structures such as vessel surface. With respect to wall climbing robots, the study proposed a stable operation structure even in rapid incline change of vessel surface. Since the wheel-based operating method is hard to work flexibly in inclination changes, we employed joints and designed the robot to have a rotation joint in the center. The arrangement of wheels is an important aspect of this structure. Viewed from the side, the robot wheels should overlap with each other to have intersection points. The wheels here are ring-type permanent magnets and serve as a tool of attachment on walls. Based on the conditions identified through formula modeling, we proposed the required magnetic force. Important factors needed for magnetic force setup include platform weight, angle between ground and inclined plane, and friction coefficient. We considered only the required magnetic force for the stable adhesion of circular magnet while making not a separate mention about the necessary force for directional locomotion. The analysis results of ANSYS Maxwell are applied to magnetic attachment. Based on the final analysis results, we built a platform and found it did not slip and stayed attached on steel plate.

The experimental study investigates whether customers perceive a service robot as apparently more deep acting than surface acting and whether these perceptions differ for interactions with human service employees and humanoid service robots. Moreover, the role of gender within these service interactions is examined.

Based on the Anthropomorphism theory and the Computers Are Social Actors paradigm, this research adopts questionnaire method and explores the relationship between robot anthropomorphism, social presence, social cognition and consumer’ continued using intention. In addition, we select technology anxiety as the moderator to explore its boundary effect

Prior social robotics research has shown that robot design influences if people perceive a robot as friendly, trustworthy, or safe (Castro-Gonzalez et al., 2016; Rosenthal-Von Der Pütten & Krämer, 2014). Meanwhile, recent conceptual work has suggested that social robots will increasingly be used in the front line of service encounters (Gonzalez-Jimenez, 2018; Van doorn et al., 2017). According to The International Journal of Social Robotics social robots are robots that can communicate and interact with humans, among themselves, and with the environment, within the cultural and social structure assigned to its role. Real examples of the inclusion of these robots in retail settings already exist. For instance, some retailers use Softbank´s robot Pepper to greet and inform customers. Social robots such as Pepper can use their sensors and cameras to interpret customer reactions and adapt accordingly. Moreover, the robot can even make product recommendations based on the assessed customer´s mood, age, gender and, if available, purchase history (McKenna, 2018). Not surprisingly, there is a vast market potential associated with these robots, which is expected to grow to 87 billion by 2025 (BCG, 2017).

Robots for a wide range of purposes have been developed along with the rapid industrialization. On the basis of higher convenience, the robots have been creating new industrial environment. The robots are generally classified into service robots and industrial robots. Robots in various shapes have been developed on the basis of the autonomous mobile robots. The autonomous mobile robots have the possibility to crash against any object in their moving range. This paper suggests a collision avoidance method to prevent collision of robots. The collision avoidance method analyzes the road context data and makes a robot move to a safe area. The collision avoidance method proposed in this paper converts the road context data into the information value. The collision avoidance method analyzes the present risk on the basis of the converted information value. The collision avoidance method makes a robot move to a safe area when crash is estimated by the information analysis.

로봇세에 대한 논의는 미래 사회의 인간 고용에 대한 논의에서 출발한다. 현재까지 기계장치와 로봇의 등장 및 인구증가에도 불구하고, 실업률의 지나친 증가가 이루어지지 않은 것은 사실이다. 그러나 앞으로도 이와 유사한 상황이 계속될 것 이라고 단정하기는 어렵다. 기계가 인간보다 나은 육체적인 능력 이외에 인지-판단 능력에서도 계속적인 발전을 이루고 있기 때문이다. 이 글은 이와 같은 문제의식에서 출발하여 현재의 조세체계를 인간의 노동과 기계의 사용이라는 두 가지 측면에서 바라보았다. 현재의 조세체계는 인간의 노동과 기계 사용에 대하여 비중립 적이다. 즉, 세금을 고려하지 않은 세상에서 인간 과 기계에 동일한 비용이 소요되고, 같은 생산량을 산출한다고 하더라도, 세금 나아가 세금 유사 비용(4대 보험), 감가상각 등을 고려한다면 기계를 도입하는 것이 상당히 유리하다. 나아가 세원 중 상당부분은 인간의 근로를 통하여 징수되고 있으므로, 로봇의 도입은 세원잠식의 우려도 존재 한다. 이와 같은 비중립성을 해소하기 위하여 ① 감 가상각 제도 개선, ② 근로자 고용에 대한 인센티브 부여, ③ 근로자 해고 내지 비고용에 대한 패널티 부여, ④ 자동화 시설 및 기계장치 투자 등에 대한 세액공제 폐지, ⑤ 기계장치 내지 로봇에 관한 취득세 및 재산세 도입과 같은 방안을 제시 하였다. 다만 위와 같은 방안에 있어 조세의 실질적인 부담을 누가 지게 될 것인지(경제적인 귀착) 에 대한 심도 깊은 논의가 추가적으로 필요하다. 로봇세의 도입은 기술발전에 대한 제약을 가할 수도 있을 것이다. 그러나 기계에 의한 인간의 대체는 최소한 기계가 더욱 효율적인 경우에만 이루어져야 한다. 다만 이의 전면적인 입법은 쉽지 않을 것으로 보이고, 로봇세라는 논쟁적이고 정치적인 문제에 대하여 미래 세대를 위한 적절한 타협이 이루어지기를 바랄 뿐이다.