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성격과 친밀도를 지닌 로봇의 일반화된 상황 입력에 기반한 감정 생성
권동수,박종찬,김영민,김형록,송현수,Kwon, Dong-Soo,Park, Jong-Chan,Kim, Young-Min,Kim, Hyoung-Rock,Song, Hyunsoo 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2
For a friendly interaction between human and robot, emotional interchange has recently been more important. So many researchers who are investigating the emotion generation model tried to naturalize the robot's emotional state and to improve the usability of the model for the designer of the robot. And also the various emotion generation of the robot is needed to increase the believability of the robot. So in this paper we used the hybrid emotion generation architecture, and defined the generalized context input of emotion generation model for the designer to easily implement it to the robot. And we developed the personality and loyalty model based on the psychology for various emotion generation. Robot's personality is implemented with the emotional stability from Big-Five, and loyalty is made of familiarity generation, expression, and learning procedure which are based on the human-human social relationship such as balance theory and social exchange theory. We verify this emotion generation model by implementing it to the 'user calling and scheduling' scenario.
외란관측기를 바탕으로 $H_{\infty}$제어 방법을 이용한 수중 로봇 팔의 원격조종 제어기 설계
유지환,권동수,이판묵,홍석원,Ryu, Jee-Hwan,Kwon, Dong-Soo,Lee, Pan-Moon,Hong, Seok-Won 제어로봇시스템학회 2000 제어·로봇·시스템학회 논문지 Vol.6 No.7
This paper presents a robust and systematic bilateral controller design method for a teleoperation of an underwater manipulator. Disturbance observer is used as a local controller of the master and underwater slave manipulator to set up the teleoperation system as a nominal model by compensating coupled nonlinear terms model uncertainties and external disturbances in the water. Using the linearized master/slave model a $H_{\infty}$ optimal control scheme is applied to systematically construct a force reflecting bilateral controller.