Time-Delay Control for the Implementation of the Optimal Walking Trajectory of Humanoid Robot

Doo Sung Ahn 유공압건설기계학회 2018 드라이브·컨트롤 Vol.15 No.3

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

피지컬 AI의 외형 디자인과 생산자․소비자 담론의 인지의미론적 탐색

박응석,이하나 중국어문학연구회 2026 중국어문학논집 Vol.- No.157

This paper classifies Physical AI into humanoid and non-humanoid robots and examines, from a cognitive perspective, both their appearance design and the robot-related discourses constructed by producers and users. The main findings of this study are as follows. First, a robot’s appearance design begins with identifying a source domain that provides conceptual material to be referenced through conceptual metaphor. Once a source domain is established, only a subset of its elements is selectively incorporated into the robot’s appearance through conceptual metonymy. Second, the appearance design of humanoid robots adopts person as its source domain and models human morphology and behavioral patterns. However, such design does not remain at the level of simple imitation; depending on contextual demands grounded in social needs, different elements within the source domain may be selectively recruited and undergo transformation. Focusing on industrial-site robots whose prototype is the “adult male,” this paper analyzes diverse patterns of transformation and their motivations, and, through comparison with educational robots, identifies differences in intra-domain element selection according to the robot’s intended purpose. Third, among non-humanoid robots, the appearance design of robot dogs takes the “biological dog” as its source domain and models canine form and behavior. The analysis further confirms that, depending on use contexts, robot dogs may incorporate additional elements absent from the source domain, such as object grasping or high-temperature tolerance. Moreover, a comparison between Unitree robot dogs and Sony robot dogs shows that, even when the referenced source domain is identical and the intended use is similar, different elaboration processes may emerge depending on producers’ design intentions. Such differences are reflected not only in the robots’ appearance design but also in producers’ accompanying texts. Fourth, robot discourse is analyzed by distinguishing between producers’ advertisements and consumers’ product reviews. The results indicate that the selection of a source domain and the ensuing elaboration process are evident not only in robots’ appearances but also in producers’ advertising texts. While producer and consumer discourses display convergent tendencies for educational humanoid robots, robot dogs exhibit discrepancies between the two. This is attributable to the fact that producers may preconfigure prior discourse through advertising and consumers may further specify it through use, yet context may also give rise to unanticipated relationships between users and robots.

Evolution of Humanoid Robot and Contribution of Various Countries in Advancing the Research and Development of the Platform

Md. Akhtaruzzaman,A. A. Shafie 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

A human like autonomous robot which is capable to adapt itself with the changing of its environment and continue to reach its goal is considered as Humanoid Robot. These characteristics differs the Android from the other kind of robots. In recent years there has been much progress in the development of Humanoid and still there are a lot of scopes in this field. A number of research groups are interested in this area and trying to design and develop a various platforms of Humanoid based on mechanical and biological concept. Many researchers focus on the designing of lower torso to make the Robot navigating as like as a normal human being do. Designing the lower torso which includes west, hip, knee, ankle and toe, is the more complex and more challenging task. Upper torso design is another complex but interesting task that includes the design of arms and neck. Analysis of walking gait, optimal control of multiple motors or other actuators, controlling the Degree of Freedom (DOF), adaptability control and intelligence are also the challenging tasks to make a Humanoid to behave like a human. Basically research on this field combines a variety of disciplines which make it more thought-provoking area in Mechatronics Engineering. In this paper a various platforms for Humanoid Robot development are identified and described based on the evolutionary research on robotics. The paper also depicts a virtual map of humanoid platform development from the ancient time to present time. It is very important and effective to analyze the development phases of androids because of its Business, Educational and Research value. Basic comparisons between the different designs of Humanoid Structures are also analyzed in this paper.

휴머노이드 로봇의 동보행 안정도에 관한 연구

이지영(Ji-Young Lee),조정산(Jung-San Cho),이상재(Sang-Jae Lee) 한국기계가공학회 2016 한국기계가공학회지 Vol.15 No.2

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

의인화 수준에 따른 휴머노이드 로봇의 의복 착용이 사용자 인식에 미치는 영향

유승훈,나건 한국디자인문화학회 2025 한국디자인문화학회지 Vol.31 No.2

본 연구는 의인화 수준에 따른 휴머노이드 로봇의의복 착용이 사용자 인식에 미치는 영향을 분석하는것을 목적으로 한다. 이를 위해 의인화 수준에 따라구분된 두 종류의 휴머노이드 로봇을 선정하고, 각각의복 착용 여부를 적용하여 총 네 가지 영상 조건을구성하였다. 향후 휴머노이드 로봇의 주요 이용층이될 것으로 예상되는 1990년대생부터 2000년대생을 중심으로 연구 참여자를 선정하였으며, 파일럿 3명과 심층 인터뷰 12명, 총 15명을 대상으로 연구를 진행하였다. 참여자들은 네 가지 조건의 영상을 시청한 뒤, 의인화, 호감도, 지각된 지능 항목에 대해 7점 리커트 척도로 평가하고 인터뷰에 응답하였다. 수집된 정성 자료는 어피니티 다이어그램 기법을 통해 분석하였다. 연구 결과, 고의인화 휴머노이드 로봇은 의복을 착용한 조건에서 긍정적인 평가를 받았으며, 이는 인간 유사성을 강화하고 호감도 및 지각된 지능을 높이는 요인으로 작용하였다. 반면, 저의인화 휴머노이드 로봇은의복 착용 이후 의인화와 지각된 지능은 다소 향상되었지만, 호감도는 오히려 낮아지는 경향을 보였다. 이러한 결과는 의복 착용이 로봇에 항상 긍정적인 영향을 미치지는 않으며, 로봇의 의인화 수준에 따라 그효과가 달라질 수 있음을 시사한다. 이에 따라 휴머노이드 로봇의 의복 착용은 의인화 수준과의 조화를 고려하여 설계될 필요가 있다. This study aims to analyze the impact of clothing on user perception and experience based on the level of anthropomorphism in humanoid robots. Two types of humanoid robots with different levels of anthropomorphism were selected, and four video conditions were constructed using existing video materials. Participants born in the 1990s and 2000s, who are expected to be a key user group for future humanoid robots, were recruited. A total of 15 participants took part in the study, including three pilot interviewees and twelve in-depth interviewees. After watching the four videos, they evaluated each robot using 7-point Likert scale items measuring anthropomorphism, likeability, and perceived intelligence, followed by interviews. The collected qualitative data were analyzed using the affinity diagram method. The results showed that the high-anthropomorphism robot humanoid received more positive evaluations when dressed in clothing, as the clothing enhanced its human-likeness and contributed to higher likeability and perceived intelligence. In contrast, while clothing slightly improved perceptions of anthropomorphism and intelligence for the lowanthropomorphism humanoid robot, it led to a decrease in likeability. These findings suggest that clothing does not always have a positive effect and may produce different outcomes depending on the level of anthropomorphism. Therefore, when designing clothing for humanoid robots, it is important to ensure alignment with the robot’s anthropomorphic features.

미취학 아동용 로봇의 디자인과 연령별 선호도에 대한 고찰 -동물형과 인간형을 중심으로

유은선,김승인 한국전시산업융합연구원 2025 한국과학예술융합학회 Vol.43 No.5

This study aims to analyze the effectiveness of different robot types for preschool children by examining the educational characteristics of animal-shaped and humanoid robots, and to present robot design guidelines according to age-specific developmental stages. The research methodology involved a systematic literature review of major prior studies in the field of child-robot interaction from 2007 to 2024. The theoretical background of robots for preschool children was examined, analyzing child developmental characteristics and robot interaction, HRI theory, and robot morphology and trust theory. Subsequently, domestic and international cases of animal-shaped and humanoid robots were analyzed, age-specific robot type preferences were compared, and comprehensive evaluations by type and age-specific design guidelines were derived. The main research findings revealed that animal-shaped robots demonstrated superiority in terms of accessibility and emotional stability, showing particular effectiveness in forming instinctive intimacy and stress relief during the 2-3 year infant period. In contrast, humanoid robots showed strengths in educational effectiveness, sustainability, and versatility, effectively supporting language and cognitive development in complex social interactions and structured learning environments after ages 6-7. Age-specific preference analysis confirmed that ages 4-5 represent a critical transition period from animal-shaped to humanoid robots. Based on this analysis, age-specific robot design guidelines were presented. Animal-shaped robots prioritizing safety and simplicity were found suitable for ages 2-3, a hybrid approach emphasizing familiarity and responsiveness for ages 4-5, and humanoid robots focusing on learning and sociality for ages 6-7 and above. This study provides a theoretical foundation for robots to be utilized as educational support tools that consider children's developmental stages in future educational environments.

Development of a Humanoid Robot for the 2018 Ski Robot Challenge

Yun-Ho Han,Ho-Jin Jeon,Baek-Kyu Cho 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.7

We describe in this paper, the development of a humanoid robot for the 2018 Ski Robot Challenge, which was held in Korea. The goal of this competition was to develop a humanoid robot that could autonomously perform in a ski giant slalom game. To participate in this competition, we developed the humanoid robot RoK-2 which is designed to ski on a slope. The lower body joints of the robot were developed to have high torque because it needed to perform ski motions in a situation where shock and vibration would occur. The upper body of the robot was designed to be shielded from factors that could damage electronic components such as snow. The ski robot required a ski turning mechanism so that it could make its way between the ski flags on the slope. To perform the turns accurately, a ski plate for the desired radius was selected and the robot performed a proper, humanlike motion using the extension–flexion a motion of carved turn. To verify the stability of the motion, we confirmed that the zero-moment point (ZMP) of the robot was within a support polygon of the robot. The environment of a ski slope is not good for image processing because of the changing light and weather. To overcome this problem, a deep learning based ski flag recognition algorithm was developed so that the robot could recognize ski flags correctly. Finally, RoK-2 was verified in the 2018 Ski Robot Challenge.

예비교사가 인식한 휴머노이드 로봇의 교육적 활용에 대한 질적 연구

권혜성,한형종 국제문화기술진흥원 2025 문화기술의 융합 Vol.11 No.1

연구는 예비교사를 대상으로 휴머노이드 로봇의 교육적 활용에 대한 인식을 탐색하는 목적을 지닌다. 휴머노이드 로봇 활용에 대한 전반적 이해 수준을 갖춘 예비교사를 대상으로 성찰일지 분석과 포커스 그룹 면담을 통해 질적 분석을 실시하였다. 연구 결과, 휴머노이드 로봇의 교육적 활용에 대하여 예비교사들은 긍정과 부정이 상충되는 관점을 지니고 있음을 확인하였다. 휴머노이드 로봇은 인간과 유사한 외형을 지니면서 사회적 상호작용이 가능하지만 정서적 교감은 인간 교사의 역할이라는 점이 강조되었다. 학습자들에게는 기존 생성형 인공지능 도구들 보다 친근하게 다가가는 또래 학습자로서의 역할 수행이 가능할 것이며 많은 학습자들이 참여하는 수업의 경우, 교사들에게는 보조교사로서 개별화된 학습 지원이 가능하다는 의견을 제시하였다. 또한, 협력적인 관계 속에서 역할 정립에 대한 필요성도 제시하였다. 반면, 휴머노이드 로봇에 대한 지나친 의존에 대한 우려, 윤리 문제의 발생뿐만 아니라 부정적인 장면이나 모습이 빠르게 확산될 수 있는 가능성에 대한 걱정 등을 지니고 있었다. This study explores pre-service teachers' perceptions of the educational use of humanoid robots. A qualitative analysis was conducted through reflective journal analysis and focus group interviews with pre-service teachers who have a understanding of humanoid robot use. The results revealed that pre-service teachers hold conflicting views on the educational use of humanoid robots. It was emphasized that humanoid robots have a human-like appearance and are capable of social interaction, but emotional communication is the role of human teachers. Humanoid Robot would be able to act as peer learners who approach learners more friendly than existing generative AI tools. In classes with many learners, it is possible to provide individualized learning support as assistant teachers. In addition, the need for establishing roles within a cooperative relationship was suggested. On the other hand, there were concerns about excessive reliance on humanoid robots, the possibility of negative scenes spreading rapidly as well as ethical issues.

A review on vision-based humanoid robot technologies: Exploring agricultural applications

강동현,장호승,백자영,전성우,이상호 사단법인 한국정밀농업학회 2025 정밀농업과학기술지 Vol.7 No.3

Recent advances in artificial intelligence, sensor integration, and robotic control technologies have led to a rapid expansion of robotic applications across various sectors. Among these, humanoid robots—characterized by human-like forms and functions—are increasingly utilized not only in industrial settings but also in healthcare, disaster response, and service industries. Within this technological trend, the agricultural sector is gaining attention as a potential frontier for humanoid robot deployment, representing the next phase of automation. Agriculture involves highly complex and unpredictable environments, including seasonal variability, where conventional fixed or wheeled automation systems often fall short. Humanoid robots, with their human-like range of motion and sensory feedback capabilities, possess the potential to flexibly adapt to such challenging conditions. This paper aims to analyze the technological potential of humanoid robots in agricultural environments. To this end, it first reviews the structural features and application cases of representative humanoid robots. It then examines technical developments centered on vision-based crop recognition and environmental perception, control algorithms including reinforcement and unsupervised learning, and multi-sensor fusion systems. Furthermore, it discusses the impact and applicability of next-generation cognitive control systems, such as the emerging Vision-Language-Action (VLA) models, in agricultural robotics. This study provides a comprehensive outlook on the utilization of humanoid robots in agriculture and proposes a technological foundation for advancing precision agriculture and future human–robot collaboration systems.

단순인체모델 기반 휴머노이드의 인간형 전신동작 생성

김창환,김승수,나성권,유범재 한국로봇학회 2008 로봇학회 논문지 Vol.3 No.4

People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.