KR20090069357A - The manufacturing methods of an inside skin for an android robot - Google Patents

Abstract

An inner skin manufacturing method of an android robot is provided to control the joints of the android robot without damage to the exterior due to the movement of a drive mechanism. An inner skin of an android robot includes a mechanism which moves joints by using an inside drive mechanism in a space of the size corresponding to the standard height of female, an inner skin structure attached to the mechanism in order to maintain the shape of human being and prevent the interference of the joints, and a structure for reducing the load in an actuator. The inner skin has tactility and color which is similar to the skin of human being. The mechanism, the inner skin, and outer skin are combined in the shape of human being.

Description

The manufacturing methods of an inside skin for an android robot}

The present invention relates to a method for producing an endothelial of an android robot, and more particularly, to make an endothelial of an android robot having an appearance, skin, and movement similar to that of a human, so as to more naturally and intimately communicate with a person. Invented.

Recently, as the industrial robot developed with the rapid industrial development has evolved into a home robot that can live like a human being, not only the signals provided by humans have to be recognized, but also the necessity of providing affinity with humans has emerged.

In the past, the signals provided by humans could be recognized by using robots that have similar joint structures with virtual spaces of humans but with different appearances, but had difficulty in providing them. Although a robot with a human-like appearance (also called an "android robot") provides friendliness and the above signals, there is an Uncanny Valley phenomenon in which a slight difference from a person causes a great rejection.

Cog and Kismet of MIT used the principles that play an essential role in observing and communicating infants, while WE-4 at Waseda University considers that internal and external stimuli provide an important cause for psychodynamics. However, the robots show a lot of differences from humans in appearance. The predecessor Android is Kokoro Actroid of Japan, and the facial Android is Hanson Robotics's facial robot. Therefore, the need to be able to more accurately resemble the appearance of human beings and express them is required.

Literature Information of the Prior Art

Breazeal, Cynthia and Lijin Aryananda "Recognition of Affective Communicative Intent in Robot-Directed Speech", IEEE-RAS International Conference on Humanoid Robots 2000.

Breazeal (Ferrell), C. (1998), "Regulating Human-Robot Interaction using` emotions ', `drives', and facial expressions". In Proceedings of 1998 Autonomous Agents workshop, Agents in Interaction-Acquiring Competence Through Imitation, Minneapolis, MO. 14-21.

[3] Hiroyasu Miwa, Kazuko Itoh, Hideaki Takanobu, Atsuo Takanishi "Development of Mental Model for Humanoid Robots", 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control ROM04-10.

[4] T. Minato, M. Shimada, H. Ishiguro, and S. Itakura, “Development of an android robot for studying human robot interaction,” Innovations in Applied Artificial Intelligence; Proc. of the Seventeenth International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems (IEA / AIE), pp. 424-434, May 2004.

[5] D. Hanson, “Identity emulation facial expression robots,” Proc. of AAAI, August, 2002.

The present invention has been made to solve the above-mentioned conventional problems and requirements, the endothelial of the Android robot having a skin and movement similar to humans is connected to the instrument and the shell using a flexible material, the actuator (Actuator) of Controls movement without interference and allows for more friendly communication with humans, which in turn increases the demand for new technologies related to robots, which can contribute to the promotion of the robot market. The purpose is to provide a method of making.

Endothelial of the Android robot of the present invention for achieving the above object, the appearance to maintain the appearance of the person; It is characterized in that it consists of a mechanism that does not damage the appearance and the coupling structure of the endothelium, the coupling mechanism (Mechanism) having a coupling structure of the endothelium and the outer shell.

In addition, the endothelial is a flexible material that allows the hard mechanism to have a look and appearance similar to human skin; A structure to prevent interference in the range of motion of the joint so that movement of the joint is not disturbed; and a material to have a touch, color, and realism similar to that of the skin; It is characterized by consisting of; structure that reduces the load (load) to the actuator.

According to the present invention, the endothelial of the Android robot can be expressed by the skin and joint structure similar to humans, and can be controlled without damaging its appearance by the movement of a driving mechanism designed in a space of a human size. In addition to being familiar, this is a very useful invention that can increase the demand for new technologies related to robots and contribute to the promotion of the robot market.

Hereinafter, one preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 shows an exemplary diagram of the neck endothelial and the outer shell of the Android robot of the present invention, the neck has a mechanism structure connected by three joints. Joints consisting of rolls, pitches, and yaws each have a limited range of motion, similar to human movement in mechanics. The rolls are connected in a linkage structure, the pitches are connected by belts, and the yaw is directly connected to the shaft. The neck is one of the most prominent parts of the neck and is one of the parts that can cause uncanny valley phenomenon by the shape of the inner and outer skin. In particular, the neck is composed of a structure that can maintain the inner skin to prevent distortion of the skin when movements such as eye tracking, object recognition, and natural motion generation using a camera installed in the pupil.

Figure 2 shows an endothelial example of the upper arm portion of the Android robot of the present invention, the shoulder and elbow is a structure to reduce the backlash (Backlash) using a reducer, the endothelial is connected so as not to interfere with the movement of the joints. The endothelium should be configured to reduce the load on the actuator while maintaining the human appearance. These two characteristics tend to be opposite to each other, and the present invention is designed to move a range of human-like movement in consideration of the characteristics of the mounted actuator. Moreover, it is comprised so that a mechanism and detachment / attachment may be easy for maintenance.

Figure 3 shows an exemplary view of the inner and outer shell of the lower arm of the arm of the present invention Android robot. The cuffs are externally visible as well as the neck, so the wrinkles of the skin are designed to resemble humans. The endothelium is made of a material that gives the body a bulky look and feel that resembles a person. The endothelium is designed to make the appearance as close to human hands as possible and to reduce the load by adjusting the thickness for each device and part within the available space except for the thickness of the shell.

Figure 4 is an exemplary illustration of the combined body of the inner part and the outer part of the body of the android robot applied in the present invention.

This invention can be implemented in other various forms, without deviating from the mind or main characteristic. For this reason, the above-described embodiments are merely examples in all respects and should not be interpreted limitedly.

The scope of the present invention is shown by the scope of the claims, which are not limited by the text of the specification, and all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  1 is an illustration of the endothelial and the outer shell of the neck of the present invention Android robot

  Figure 2 is an illustration of the endothelial arm upper arm portion of the present invention robot

  Figure 3 is an illustration of the inner and outer shell of the lower arm portion of the arm of the present invention Android robot

  Figure 4 is an illustration of the endothelial body portion of the present invention robot robot

Claims (1)

A mechanism connected to move a joint using an internal drive mechanism (Mechanism) in a size space of a Korean standard woman; An endothelial structure attached to the apparatus to maintain a human shape and not interfere with the movement of the joint; The endothelium is similar in touch and color to resemble human skin, and reduces the load on the actuator; Endothelial of the android robot, characterized in that the combination of the instrument, the endothelial and the outer shell of the human appearance is similar, similar movement.

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