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.

Background: Previous robot-mediated gait training has been proven several limitations such as pointless repeated motion training, decreased presence, etc. In this research, adult stroke patients were participated in robot-mediated gait training accompanied with or without virtual reality program. Objectives: Exploring whether the results indicated virtual reality system has contribution to muscle strength and balance ability. Design: A case series research, cross-over trial. Methods: Eleven participants (male 4, female 7) with adults diagnosed as stroke from medical doctor ware engaged. The participants received 2 treatment sessions of identical duration, robot-assisted gait training with virtual reality and robot-assisted gait training with screen-off randomly crossed over include 1-day for each person of wash-out period. The parameter was muscle activity, the researchers assessed sEMG (surface electromyography). Results: The result showed less muscle activities during training in robotassisted gait training with virtual reality circumstances, and these indicated muscles were gluteus medius muscle, vastus medialis muscle, vastus intermedius and vastus lateralis muscle, semimembranosus muscle, gastrocnemius- lateral head, and soleus muscle (P<.05). Conclusion: In this study, we analyzed the outcome of muscle activity for clinical inference of robot-assisted gait training with virtual reality (VR). Less muscle activity was measured in the treatment accompanied by VR, therefore, a more systematic, in-depth and well-founded level of follow-up research is needed.

This paper deals with the dynamic control of redundant robot manipulator. Traditionally, the kinematic control schemes for redundant robot manipulator were developed from the point of speed and used under the assumption that the dynamic control of manipulator is perfect. However, in reality, the precise control of redundant robot manipulator is very difficult due to their dynamics. Therefore, the kinematic controllers for redundant robot manipulator were employed in the acceleration dimension and may be combined with the computed torque method to achieve the accurate control performance. But their control performance is limited by the accuracy of the manipulator parameters such as the link mass, length, moment of inertia and varying payload. Hence in this paper, the proportional and derivative control gains of the computed torque controller are optimized by the genetic algorithm on the typical payloads, and the neural network is applied to obtain the proper control gains for arbitrary loads. The simulation results show that the proposed control method has better performance than the conventional control method for redundant robot manipulator.

This paper proposes a method to reduce the pose error and to solve the dead reckoning issue which occurs when the mobile robot with continuous-tracks travels in the unstructured environments. When the continuous-track type mobile platform travels on terrain such as sand, gravel, stairs and etc., slippage occurs and thus the driving state of the mobile robot cannot be recognized normally. To compensate for this pose error, the proposed method utilizes optical flow estimation detected by camera. This method is tested through experiment. Finally, This method reduces the pose error detected on inertia measurement unit within some limit, while the pose error of without compensation increases without limit during robot move.

접목시기의 줄기직경을 조사한 결과 토마토 접수는 2.5±0.3mm, 대목은 3.1±0.7mm인 것으로 조사되었고, 오 이 접수는 2.2±0.2mm, 대목은 약 3.6±0.3mm인 것으로 조사되었다. 절단 기준점의 높이 차는 4mm 이상일 때 대부분의 모종에 대해 접촉면이 작아 접목 불량이 발생 하였고, 2mm 이하일 때 접수와 대목의 절단면 겹침으로 인하여 접촉부가 작아 불량이 발생하는 것으로 분석 되어 3mm가 적당한 것으로 사료된다. 접수 및 대목 줄 기직경이 모두 얇을 경우 접수 및 대목 중 하나의 줄기 직경이 평균값 이상을 이용해야 하는 것으로 분석되었다. 또한 줄기의 절단 각도는 인력으로 작업하기 때문에 접수는 13~55o, 대목은 15~67o의 범위로 다양한 것으로 조사되어 접목 불량의 원인이 될 수 있으므로 기계절단을 통하여 접수와 대목의 절단각도를 일치시킴으로써 접 목성공률을 향상 시킬 필요가 있을 것으로 사료된다. 모종 줄기 절단면 촬영 및 영상처리로 모종의 휨을 인식 및 계산하여 그립퍼의 회전각을 제어하여 정확도 시험을 실시한 결과 접수와 대목 절단면은 정확히 접합되는 것 으로 조사되었다. 영상 인식 기술을 적용한 접목로봇을 이용하여 오이와 토마토에 대한 접목시험을 실시한 결과 오이는 96±3.2%, 토마토는 95±4%의 접목 성공률이 조 사되었다.

A deburring system using the joint of revolute robot manipulator with a tool holder was developed for deburring automation. The tool holder composed of the plunger with spring was developed for freedom of three degree operation. The tool holder was applied for compensation of position errors during trajectory tracing or deburring the workpiece of ununiform. To reduce interacting forces between the high stiffness tool at the end effecter and the workpiece during deburring operation, it was developed to operate flexibly to the direction of tangent line on the revolute axis and to the direction of axis. In this paper, using the deburring system attached at the revolute robot manipulator, deburring experiments were performed. According to the experimental results, the good performance of the proposed deburring system using the revolute robot manipulator was shown.

Robot manipulators are highly nonlinear system with multi-inputs multi-outputs, and various control methods for the robot manipulators have been developed to acquire good trajectory tracking performance and improve the system stability lately. The computed torque controller has nonlinear feedforward control elements and so it is very effective to control robot manipulators. If the control gains of the computed torque controller is adjusted according the payload, then more precise control performance is attained. This paper extends the conventional computed torque controller in the joint space to the Cartesian space, and optimize the control gains for some specified payloads in both joint and Cartesian spaces using genetic algorithms. Also a neural network is employed to have proper control gains for arbitrary payloads using generalization properties of the neural network. Computer simulation results show that the proposed control system for robot manipulators has excellent performance in various conditions.

Crawling robots are advantageous in overcoming obstacles. These robots have characteristics such as light weight and outstanding mobility. In case of large robots, they have difficulties passing narrow gaps or entering the cave. In this paper, we propose a milli-scale hexapedal robot using 4-bar linkages. Two conditions are necessary to enable efficient walking. In short, the trajectory of the foot must be elliptical, and the lowest point of the foot should be the same. These conditions are satisfied with a novel leg design. The robot has a pair of three legs and the legs are coupled to operate simultaneously. Each set of the legs are installed to robot’s both sides and the legs satisfy the equal lowest foot point and elliptical trajectory. As a result, this hexapedal robot can crawl with 0.56m/s speed.

Fire fighting robots to cope with fire are used to support fire fighting activities of firefighters. In the field of fire, the thermal performance test of the fire fighting robot is indispensable as the radiation intensity is high. For this purpose, a thermal barrier material which can be used for heat shielding was selected. Also, the results of the thermal barrier study, which can improve the heat shielding for the fire fighting robots, are presented by evaluating the characteristics of the heat shields of the material. By coating the Ag film on the surface of the robot, heat transmitted to the inside can be shielded, and the thermal barrier effect due to the difference in the thickness of the Ag coating can be seen. It can be seen that a secondary thermal barrier system using an Ag coated insulating box and a heat insulating board capable of protecting the electronic devices of the fire fighting robot at high temperatures and protecting the electronic devices for smooth functioning is efficient. This study is introduced a thermal barrier structure and system that can be used for fire fighting robots.