휴머노이드를 활용한 놀이 교실 경험에 대한 질적 내용분석: 영유아교사들의 인터뷰 내용을 중심으로

유지윤,심숙영,임선아 미래유아교육학회 2023 미래유아교육학회지 Vol.30 No.3~4

본 연구는 휴머노이드를 활용한 놀이를 제공한 경험이 있는 교사들의 인터뷰를 통해 휴머노이드를 활용한 놀이의 효과성과 문제점을 확인하고, 휴머노이드를 활용한 놀이 교실을 효과적으로 운영하기 위한 방안을 모색하고자 하였다. 이를 위해 휴머노이드를 활용한 영유아 교실을 운영한 경험이 있는 담임 선생님 4명과 인터뷰한 자료를 질적 내용분석(QCA: Qualitative Content Analysis) 방법으로 분석하였다. 그 결과, 휴머노이드를 활용한 놀이에 대한 담임교사 경험의 내용은 3개의 상위범주와 7개의 하위범주로 구분되어 나타났다. 그 내용을 구체적으로 살펴보면, 첫째, 교사들은 휴머노이드를 활용한 놀이가 영유아 놀이를 발전시킬 뿐 아니라 교사의 교수적 한계를 도와주는 측면에서 효과적이라고 인식하고 있었다. 둘째, 영유아 교사들은 휴머노이드를 활용한 놀이 교실에서 휴머노이드의 기능적 문제와 인프라와 비용 문제로 인해 어려움을 경험하였다고 보고하였다. 마지막으로 영유아 교사들은 휴머노이드 사용의 문제를 해결하기 위한 방안으로 휴머노이드의 언어 인식 및 응답기능의 보완이 필요하며, 휴머노이드를 활용한 놀이를 제공하는 교사의 태도 변화가 필요하다고 인식하였으며, 이와 관련 교육 연수를 통하여 전문지식을 습득하는 것이 필요하다는 의견을 제안하였다. 본 연구는 4차 산업 혁명을 통해 나타난 휴머노이드를 활용한 놀이의 효과와 문제, 휴머노이드를 현장에서 잘 사용하기 위한 보완적 방향을 구체적으로 제안했다는 데 연구적 의미를 갖는다. This study sought to explore the effectiveness and problems of play using humanoids through interviews with teachers who had experience providing play using humanoids, and to find ways to effectively operate a play classroom using humanoids. For this purpose, interview data from four homeroom teachers with experience in early childhood classrooms using humanoids were analyzed using Qualitative Content Analysis (QCA). As a result, the content of homeroom teachers’ experiences regarding play using humanoids was divided into three upper categories and seven lower categories. In detail, first, teachers recognized that play using humanoids was effective not only in developing early childhoods’ play but also in helping teachers overcome their teaching limitations. Second, early childhood teachers reported that they experienced difficulties in play classrooms using humanoids due to functional problems with humanoids and problems with infrastructure and costs. Lastly, early childhood teachers recognized that the language recognition and response functions of humanoids need to be supplemented as a way to solve the problem of using humanoids, and that teachers who provide play using humanoids need to change their attitudes, and educational training should be provided to acquire specialized knowledge about use of humanoids. This study has research significance in that it specifically proposed the effects and problems of play using humanoids that emerged through the 4th Industrial Revolution and complementary directions for using humanoids well in the field.

네트워크 기반 휴머노이드에서의 PnP가 가능한 미들웨어 프레임워크

이호동,김동원,김주형,박 한국로봇학회 2008 로봇학회 논문지 Vol.3 No.3

This paper describes a network framework that support network based humanoid. The framework utilizes middleware such as CORBA (ACE/TAO) that provides PnP capability for network based humanoid. The network framework transfers data gathered from a network based humanoid to a processing group that is distributed on a network. The data types are video stream, audio stream and control data. Also, the network framework transfers service data produced by the processing group to the network based humanoid. By using this network framework, the network based humanoid can provide high quality of intelligent services to user.

인지된 사용용이성과 인지된 유용성이 휴머노이드(Humanoid) 로봇 사용의도에 미치는 영향

김근정(Kim, Guen Jung),박성준(Park, Sung Jun),이희정(Lee, Hee Jung) 한국상품학회 2019 商品學硏究 Vol.37 No.3

본 연구는 항공운송 서비스 산업에 인공지능을 탑재한 휴머노이드(인간형) 로봇을 적용하였을 때 개인의 특성에 따른 기술 수용 태도 및 의도와의 상관관계를 검증하였다. 이를 통하여 실제 산업에서 인공지능 휴머노이드 로봇의 서비스 디자인 설계 시 중요하게 고려해야 할 소비자의 특성과 기술 채택 동기 요인에 대하여 알아 보기 위해 본 연구를 수행하였다. 나아가 인공지능 휴머노이드 로봇 도입 시, 적용 가능한 소비자 집단 및 긍정적인 사용 태도와 의도를 위한 서비스 전략 수립 방안을 제시하고자 하였다. 본 연구는 구조방정식을 통해 한국에 거주하는 만 20대 이상 소비자 571명의 설문 자료를 분석하였다. 분설 결과, 새로움 추구 성향이 높을수록 휴머노이드 로봇의 사용용이성 및 유용성을 더 높게 평가하여 사용 태도와 의도에 긍정적인 영향을 미치는 것으로 나타났다. 또한 자기 효능감이 기술기반 서비스 수용 동기에 유의미한 영향을 미치고, 태도 및 의도에도 긍정적인 영향을 미치는 것을 확인하였다. 하지만 기존 에 제시 된 기술기반 서비스의 수용 모델과는 다르게, 인공지능 휴머노이드 로봇의 유용성은 사용 의도에 직접적인 영향을 미치지 않는 것으로 나타났다. 본 연구를 통하여 공항에서의 인공지능 휴머노이드 로봇 서비스 도입 시, 새로움 추구 및 자기 효능감이 높은 소비자 대상으로 우선 적용하여야 하며, 소비자가 쉽고 유용하다고 느낄 수 있는 동기 부여가 필요함을 시사하고 있다. This study attempts to verify the relationships between technology acceptance attitude and intention according to individual characteristics when applying humanoid robots equipped with artificial intelligence to the air transport service industry. The major objective of this study is to empirically explore what characteristics of consumers and motivational factors should be considered when designing services for artificial intelligence humanoid. Also, the study propose to establish a service strategy for applicable consumers and positive use attitude and intention when adopting artificial intelligence humanoid robot. This study analyzed the online survey of 571 in their 20s and older living in Korea through SEM. The findings indicate that relevant consumer traits for technology based service are novelty-seeking and self efficacy, and it had direct impacts on perceived ease of use and perceived usefulness. Also perceived ease of use and perceived usefulness positively influenced attitude and behavioral intention as with the results of previous research, TAM. However, perceived usefulness had not directly impact on behavioral intention. When adapting artificial intelligence humanoid robot services in airports, this study suggests that consumers with high novelty-seeking and self efficacy apply first, and there needs to feel easy and useful.

RTOS와 FPGA를 기반으로 한 소형 휴머노이드 로봇 제어기 구현

전재민(Jae-min Jeon),서규태(Kyu-tae Seo),오준영(Jun-young Oh),유인환(In-hwan Yoo),이보희(Bo-hee Lee) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10

This paper deals with the implementation of a small humanoid robot controller on the basis of Real Time Operating System(RTOS) and the FPGA. This controller was adapted to the humanoid robot with 25 DOFs, which are 12 DOFs in each leg, 8 DOFs in each arm, 3 DOFs in waist, and 2 DOFs in head. The robot actuators were used DX -1l7 servo motors that have all of the controller components in one module in order to simplify the control structure. In addition, the main controller is FPGA of Virtex4-FX from Xilinx, and ported on VxWorks that is kind of RTOS. It is essential to install this RTOS on the complex control system and to do control activity at the multitasking environments. This paper suggested the method of distributing the computational load in the humanoid robot controller using the FPGA and RTOS concepts. All of the control process was verified through the real action of the humanoid.

글로벌 비젼을 이용한 자동제어 휴머노이드 축구시스템 설계

구자일(Ja Yl Ku) 대한전자공학회 2008 電子工學會論文誌 IE (Industry electronics) Vol.45 No.2

본 논문에서는 휴머노이드를 이용한 로봇 축구 시스템을 새롭게 제안하며, 다수의 인간형 로봇을 제어하는 방법과 축구 경기를 하기 위한 전략 알고리즘 등에 대해 기술하였다. 로봇의 위치와 방향을 파악하기 위해서 로봇의 위쪽 어깨 부분에 각각의 로봇을 구분할 수 있는 칼라 태그를 부착하였고, 빠른 위치와 방향 인식을 위해 전용의 PC를 통해 영상인식을 수행하였다. 본 논문에서 제안한 휴머노이드 로봇 축구 시스템은 기존의 바퀴 구동형 축구 로봇을 한 단계 발전시킨 것으로, 앞으로 많은 연구를 통하여, 인간처럼 자율 이동이 가능한 로봇 축구 경기가 가능하리라 본다. The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer system. the position and direction of the robot is recognized quickly using color tag on the shoulder of robot and special personal computer. Humanoid robot soccer system in this paper develops better in existent wheel-driven soccer robot. Forward, through a lot of studies, self-moving soccer game like human with humanoid is possible.

Human-Like Motion Generation and Control for Humanoid's Dual Arm Object Manipulation

Sung Yul Shin,ChangHwan Kim IEEE 2015 IEEE transactions on industrial electronics Vol.62 No.4

<P>The robot manipulation in human environment is a challenging issue because the human environment is complex, dynamic, unstructured, and difficult to perceive reliably. In order to implement promising robot applications in our daily lives, robots need to perform manipulation tasks within human environment. Particularly for a humanoid robot, the manipulability of the objects is essential to assist the humans in human environment. This paper presents a method for manipulating an object with both arms of a humanoid robot. We focus on the generation of human-like movements by using the human motion capture data. Then, the control method based on the virtual dynamics model is proposed to control both the motion and force under the uniform control system. This method empowers the robot to perform the object manipulation task including reaching, grasping, and moving an object in sequence. The proposed algorithm is implemented on a humanoid robot with independent joint controller at each motor; its performance is demonstrated by manipulating an object with both arms.</P>

DRC Finals 2015에서 휴머노이드 로봇의 자동차 운전과 하차에 관한 전략

안동현(DongHyun Ahn),신주성(JuSeong Shin),전용범(Youngbum Jun),손기원(Kiwon Sohn),장기호(Giho Jang),폴오(Paul Oh),조백규(Baek-Kyu Cho) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator’s commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

위상평면을 이용한 유압식 이족 휴머노이드 로봇의 보행제어

최동일(Dongil Choi),김정훈(Jung-Hoon Kim),김정엽(Jung-Yup Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.3

This paper proposes a novel control method using phase plane for a hycraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

심학(心學)의 눈으로 바라본 < 옹고집전 >

허원기 ( Weon Gi Heo ) 한국고소설학회 2016 古小說 硏究 Vol.41 No.-

This Study approached to <Onggojipjeon> by the viewpoint of Simhak(心學). Main-character Onggojip(옹고집) is a character represent a Pathology of Simhak. And, Onggojip is a character that stubbornly sticking to the Insim(人心) and tweaked the Dosim(道心). The <Simsulsaseol(심술사설) of Onggojip> is shows well this phenomenon. Events evolution of <Onggojipjeon> are a process of solving the problem of Simseong. And in that process, Insim and Dosim are collide with each other. The process appears from Step 1 to Step 4. Therefore, <Onggojipjeon> is a very meaningful work by the side of Simhak. And It is showed that emerging modern capitalism humanoid by Onggojip. Also It is present the solution of Simhak for the Psychological disorders of modern capitalism humanoid.

사회성 로봇의 대화 참여 전략에 따른 사용자의 인식

김선경 ( Kim Sunkyoung ),김고운 ( Kim Go Woon ),강다현 ( Kang Dahyun ),김선경 ( Kim Sunkyoung ) 디자인융복합학회 2018 디자인융복합연구 Vol.17 No.5

Social robots can act autonomously by interpreting and understanding social cues. Humanoid-typed social robots have a human-like appearance and can use voices, facial expressions, postures, and gestures as humans do. Therefore, it is possible to design the user experience by applying human communication methods to the social robot. Communication can occur as verbal and nonverbal communication. When starting a conversation, people use both verbal and nonverbal expressions. If we give sociality to the robots by applying human verbal and nonverbal communication methods to their design and operation, it will be possible to promote the natural interaction between the robots and the humans. In this study, we focused on the start of conversation as one of the stages of human interaction and explored whether we could apply existing conversation-starting strategies when a social robot participates in dialogue between two people. We investigated the user's perception based on those four strategies (asking a question, adding to conversation, looking alternately at others, and clearing one's throat). The robot's sociability, intelligence, politeness, and likeability was positively evaluated when the robot asked a question as a verbal engagement strategy, followed by adding to conversation, clearing one's throat, and looking alternately at others.