• Title/Summary/Keyword: 동적 보행계획

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Dynamic Walking Planning and Inverse Dynamic Analysis of Biped Robot (이족로봇의 동적 보행계획과 역동역학 해석)

  • Park, In-Gyu;Kim, Jin-Geol
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.9
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    • pp.133-144
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    • 2000
  • The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

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Locomotion of Dog-like Quadruped Robots: Walk and Trot (견형 4족 로봇의 위치 이동: 걷기 및 속보)

  • Lim, Seung-Chul;Kim, Kwang-Han
    • Journal of the Korea Society for Simulation
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    • v.20 no.1
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    • pp.51-59
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    • 2011
  • This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.

A Basic Study on the Design of the Flexible Keel in the Energy-Storage Prosthetic Foot for the Improvement of the Walking Performance of the Below Knee Amputees (하지 절단환자의 보행 능력 향상을 위한 에너지 저장형 의족의 유연 용골 설계를 위한 기초연구)

  • 장태성;이정주;윤용산;임정옥
    • Journal of Biomedical Engineering Research
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    • v.19 no.5
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    • pp.519-530
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    • 1998
  • In this paper, the basic study on the design of the flexible keel of the energy-storage prosthetic foot was performed in order to Improve the walking performance and Increase the activities of the below knee amputees. Based on the analysis of the anthropometric data and the normal gait on two dimensional sagittal plane available In the literature, we presented a model of the basic structure of the flexible keel of the prosthetic foot. The model of the basic structure was composed of the simple beams, and linear rotational spring and damper. Laminated carbon fiber-reinforced composites were selected as the material of the basic structure model of the flexible keel In order to apply the high strength and light weight materials to the basic structure of the flexible keel of the prosthetic foot. The recoverable strain energy In response to the change of beam shape was calculated bur the finite element analysis and it was suggested that the change of beam shape could be the design variable in flexible keel design. The simulation process was systematically designed by using orthogonal array table in order to design the flexible keel structure which could store the more recoverable strain energy. finite element analysis was carried but according to the design of simulations by using the finite element program ABAQUS and the flexible keel structure of the energy-storage prosthetic foot was obtained from the analysis of variance(ANOVA). The dynamic simulation model of the prosthetic walking using the flexible keel structure was made and the dynamic analysis was carried but during one walk cycle. Based on the above results, an effective design process was presented for the development of the prosthetic fool system.

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Dynamic Walking Planning for a Legged Moving Machine (보행형 이동 로봇의 동적 걸음 계획)

  • Yu S.H.;Kim J.H.;Kim Y.B.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.1780-1783
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    • 2005
  • In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

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Evaluation of Streetscape by Street Planting Types using Dynamic Simulation - In the case of Ginkgo planted on the Dongdaegu-ro in Daegu - (동적 시뮬레이션을 활용한 가로수 식재유형별 가로경관 평가 - 대구광역시 동대구로 은행나무를 대상으로 -)

  • Shin, Jae-Yun;Jung, Sung-Gwan
    • Journal of the Korean Institute of Landscape Architecture
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    • v.42 no.1
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    • pp.89-103
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    • 2014
  • This study analyzed the preference depending on street planting types and visual characteristics on Dongdaegu-ro located in Suseong-gu, Daegu Metropolitan City. The Single Row Roadside, Central Sidewalk Plantings, Double Row Parallel and Alternate Plantings were selected as the planting types. The plantings were divided at intervals of 4, 7 and 10 meters. A survey was conducted by dynamic simulation produced from pedestrian perspective. As a result, in single planting, the single central sidewalk planting with 4 meter-interval showed a high landscape preference 4.64. In addition, in double planting, the double alternate planting with 7 meter-interval showed the highest landscape preference 5.01. The factors that had the greatest effect on the landscape preference were 'comfortable' and 'beautiful'. It was considered that they should be preferentially taken into account in producing landscapes by planting. It was considered that they should be preferentially taken into account. It is also considered that this study will be used for objective data and planting plan for establishing the comfortable and high quality streetscape by quantitative evaluation of the visual characteristics and preference according to the street planting types.

A Study of Pedestrian Navigation Service System for Visual Disabilities (시각장애인용 길안내 서비스 시스템에 대한 연구)

  • Jang, Young Gun;Cha, J.H.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.11 no.4
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    • pp.315-321
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    • 2017
  • This paper is a study on the design and realization of Pedestrian navigation service system for the visually impaired. As it is an user interface considering visually impaired, voice recognition functioned smartphone was used as the input tool and the Osteoacusis headset, which can vocally guide directions while recognizing the surrounding environment sound, was used as the output tool. Unlike the pre-existing pedestrian navigation smartphone apps, the developed system guides walking direction by the scale of the left and right stereo sound of the headset wearing, and the voice guidance about the forked or curved path is given several meters before according to the speed of the user, and the user is immediately warned of walking opposite direction or proceeding off the path. The system can acquire stable and reliable directional information using the motion tracker with the dynamic heading accuracy of 1.5 degrees. In order to overcome GPS position error, we proposed a robust trajectory planning algorithm for position error. Experimental results for the developed system show that the average directional angle error is 6.82 degrees (standard deviation: 5.98) in the experimental path, which can be stated that it stably navigated the user relatively.

A study on the motion trajectory planning and dynamic simulation of biped walking robot (이족 보행 로보트의 운동 궤적 계획 및 동적 시뮬레이션에 관한 연구)

  • 김창부;김웅태
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.959-964
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    • 1992
  • This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

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MCMC Particle Filter based Multiple Preceeding Vehicle Tracking System for Intelligent Vehicle (MCMC 기반 파티클 필터를 이용한 지능형 자동차의 다수 전방 차량 추적 시스템)

  • Choi, Baehoon;An, Jhonghyun;Cho, Minho;Kim, Euntai
    • Journal of the Korean Institute of Intelligent Systems
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    • v.25 no.2
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    • pp.186-190
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    • 2015
  • Intelligent vehicle plans motion and navigate itself based on the surrounding environment perception. Hence, the precise environment recognition is an essential part of self-driving vehicle. There exist many vulnerable road users (e.g. vehicle, pedestrians) on vehicular driving environment, the vehicle must percept all the dynamic obstacles accurately for safety. In this paper, we propose an multiple vehicle tracking algorithm using microwave radar. Our proposed system includes various special features. First, exceptional radar measurement model for vehicle, concentrated on the corner, is described by mixture density network (MDN), and applied to particle filter weighting. Also, to conquer the curse of dimensionality of particle filter and estimate the time-varying number of multi-target states, reversible jump markov chain monte carlo (RJMCMC) is used to sampling step of the proposed algorithm. The robustness of the proposed algorithm is demonstrated through several computer simulations.

A Study on the Improvement of Streetscape in Landfill of Public Water Surface and Its Evaluation (Focusing of Marine City in Haeundae) (공유수면 매립지 내 가로경관 개선 방안 및 평가에 관한 연구 (해운대 머린시티를 대상으로))

  • Kim, Jong-Gu
    • Journal of Korean Society of Transportation
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    • v.28 no.2
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    • pp.99-108
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    • 2010
  • In this paper I tried to find out changed and improved streetscape through the simulation using components of streetscape abstracted by factor analysis after analyzing present situation and problems of the streetscape for housing developments prepared on publis water surface. An analysis object is located in Haeundae Marine City in Busan. As a result of analysing the streetscape of marine city at present, I could see that main problems were discontinuous street space that did not reflect the characteristic of seashore, uncomfortable and insecure passage owing to coexistence street at seashore, insufficient street facilities for pedestrians, and disordered outdoor signboards. Therefore, I put the causal problems of marine city's streetscape in the insufficient street components, disharmony, and discontinuity so analysed the simulation elements applying selected street components and evaluated them to deduce demand factors having common meaning. As the result, the common demand factors were 'street furniture', 'harmonious streetscape with surrounding', 'landscape with natural openness', and 'landscape with dynamic symbol' in the order. So it needs to stress on a plan for proper arrangement of 'street facilities' and symbolic streetscape having continuity and harmony with surrounding so that the plan can proceed more properly for marine city's identity.