The predictive control system using model-based predictive control is a very effective way to optimize the present inputs considering the states and future errors of the reference trajectory, but it has a drawback in that a control input matrix must be repeatedly calculated with a long calculation time at every sampling for minimizing future errors in a predictive interval. In this study, we applied the neural network simulating the predictive control method for the trajectory tracking control of the mobile robot to reduce complex control method and computation time which are the disadvantage of predictive control. In addition, the neural network showed excellent performance by the generalization even for a different reference trajectory. Therefore, The controller is designed by modeling the model-based predictive control gains for the reference trajectory using a neural networks. Through the computer simulation, the proposed control method showed better performance than the general predictive control method.

Driving mechanism, the central part of a robot, was designed in this study. Power for the motive drive was acquired by directly connecting the motor shaft in worm shape of the low-end DC motor, car window motor, to a decelerator. The decelerator consists of a worm gear to receive power from the motor shaft, a pinion gear to be connected in line with the worm gear, and an output shaft to be engaged to the pinion gear. Motion driving is achieved by the power from the motor shaft with the designed gears, transferred to the deceleration mechanism and to the output gear

In this paper, optimal design of the second arm in a SCARA robot was studied. The mass and moment of inertia of the second arm of a SCARA robot have great effects on performance indices such as cycle times and torques of the first and second axes. To reduce the mass and moment of inertia, optimal design was carried out by FEM analysis using parameters such as width and height of the arm rib, which was newly adopted to decrease the arm thickness in keeping stiffness. Computer simulation was conducted in X and Y directional paths. As a result of the optimal design, maximum torques of the first and second axes decreased by 10.1% in maximum.

인간은 보다 풍요로운 삶을 살고자 하는 욕구와 최근 소비문화의 변화는 대형 할인매장이라는 소비시장의 생성을 가능케 하였고, 이는 할인매장에서 소비자의 사용 편의에 대한 욕구가 더욱 증가하게 되었다. 이러한 대형 할인매장에서 쇼핑방법은 소비자에게 많은 정신적, 육체적 어려움을 주고 있다. 이에 현재 대형 할인매장에서의 문제점을 해결할 수 있는 쇼핑 지원 로봇을 개발, 상용화 시켜 사용자의 원활한 생활 지원을 목적으로 하는 로봇의 디자인 개발을 위한 기초 연구이다. 본 연구에서는 소비자의 쇼핑 지원시 필요한 사용자의 행태 분석과 설문조사를 통해, 쇼핑 지원 로봇의 니즈를 분석 도출하여 쇼핑 지원 로봇의 디자인 개발 시 형태 디자인을 위한 가이드라인을 제안했다.

본 연구의 목적은 로봇의 상용화, 어플리케이션 개발에 대한 이해를 높이고 로봇의 평가 척도 간 연관성 및 개발 트렌드 등을 짚어보는 데 있었다. 인터랙티브 맵핑을 통해, 113가지의 로봇 샘플 자료들을 로봇의 평가척도 7가지에 대해 다양한 배치가 가능하고 각각 아이템에 대한 상세 정보가 참조 가능하도록 구현하여, 시각적으로 보다 면밀한 분석이 가능하였다. 또한 인터랙티브 맵핑을 활용하여 국가별 로봇 개발 성향의 차이를 살펴본 결과, 크게 미국, 유럽의 성향과 일본, 한국의 성향으로 나눌 수 있었다. 미국과 유럽은 공통적으로 로봇을 '도구'라 여기고, 이러한 점이 평가 척도의 다양한 부분에서 반영되었음을 알 수 있었다. 일본, 한국의 경우 로봇을 '파트너' 혹은 '공존하는 관계'라고 여기고, 이러한 점을 만족시키도록 개발하고 있는 것을 발견할 수 있었다.

Autonomous mobile robots based on the Web have been already used in public places such as museums. There are many kinds of problems to be solved because of the limitation of Web and the dynamically changing environment. We present a methodology for intelligent mobile robot that demonstrates a certain degree of autonomy in navigation applications. In this paper, we focus on a mobile robot navigator equipped with neuro-fuzzy controller which perceives the environment, make decisions, and take actions. The neuro-fuzzy controller equipped with collision avoidance behavior and target trace behavior enables the mobile robot to navigate in dynamic environment from the start location to goal location. Most telerobotics system workable on the Web have used standard Internet techniques such as HTTP, CGI and Scripting languages. However, for mobile robot navigations, these tools have significant limitations. In our study, C# and ASP.NET are used for both the client and the server side programs because of their interactivity and quick responsibility. Two kinds of simulations are performed to verify our proposed method. Our approach is verified through computer simulations of collision avoidance and target trace.

Collaborative Robot (Cobot) that can collaborate with humans by fusion with many advanced technologies among industrial robots in the industrial field are attracting attention. In this study, the engineers of Small and Medium Enterprises can directly participate in the cobot design, and ultimately, the possibility of deriving the shape design of the differentiated cobot was studied. The method applied to derive the shape design of differentiated cobot is ‘Morphological Analysis’. First, the design elements of the form of cobots were derived as ‘Link’ and ‘Joint’. In addition, by analyzing the image form of the Link and Joint of the existing cobot, a new form element of the Link and Joint was proposed. In order to quantitatively identify the most discriminating cobot shape design, FGI (Focus Group Interview) was conducted to derive image types of 4 Link and 3 Joint. Then, the most important ‘Shape Combination’ was carried out in morphological analysis, and 12 new cobot shape designs were drawn. Through this, the applicability of the morphological analysis method in the derivation of differentiated cobot shape design was examined.

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

Robot ALICE@ERICA is a service robot developed to receive donations and to provide information services. ALICE@ERICA stands for Artificial Learning Intelligence robot for Culture and Entertainment at ERICA. In order to achieve the specific purpose of receiving donations, proper appearance design, appropriate movement and good communication skills are required in terms of HRI. In this paper, we introduce three strategies for developing robots to receive donations effectively. The first is to design a robot that makes people feel intimacy, the second is to approach only one of several people as a donor, and finally the donor communicates with video contents and voice recognition. A survey was conducted on the person who showed the reaction after the robot donated money in public places. Based on the survey results, it is proved that the method presented in this study effectively contributed to fund raising. If robots can perform actions that require high level of HRI, such as donation, robots can contribute more to human society. We hope that this study contributes to the improvement of human happiness.

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

열악한 작업환경 때문에 수중항만공사를 기계화하려는 많은 노력들이 시도되고 있다. 본 논문은 수중항만공사 중 사석 고르기 작업을 수행하는 수중건설로봇에 대해 기술한다. 로봇의 블레이드는 울퉁불퉁한 지형에서도 사석 마운드를 기준면에 대해 평편하게 고르고, 다목적 암은 사석을 파고, 채울 수 있게 설계되었다. 본 연구는 로봇에 설치된 위치 및 방위 센서와 동기를 이루면서 주행과 스윙운동이 포함된 다목 적암과 블레이드의 기구학을 해석한다. 기준수심센서에 부여된 월드좌표에 대해서 블레이드와 다목적암의 위치와 방위를 나타내고, 기준면과 나란한 고르기 작업을 위한 형상을 찾는다. 고르기 작업을 위한 유압제어시스템을 개발하며, 로봇에 의한 육상 및 수중 사석 고르기 작업을 실시해 실험결과를 보인다. 로봇의 작업속도는 잠수부보다 8배 정도 빠르며 작업품질도 우수한 것으로 평가된다. 잠수부가 작업할 수 없는 대 수심에서는 효율성이 더 좋을 것으로 기대된다.

Various driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot’s pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn’t contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

Emotion interaction between human and robot is an important element for natural interaction especially for service robot. We propose a hybrid emotion generation architecture and detailed design of reactive process in the architecture based on insight about human emotion system. Reactive emotion generation is to increase task performance and believability of the service robot. Experiment result shows that it seems possible for the reactive process to function for those purposes, and reciprocal interaction between different layers is important for proper functioning of robot’s emotion generation system.

This paper presents a theoretical study for making intelligent robots with human-like mind. For the development of a cognitive mental model, we developed three algorithms based on the cognitive process for human psychoanalysis. Specifically, the concept of id, ego and superego from the theory of Sigmund Freud was adopted and the procedural algorithms were presented.