• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.137-141
• /
• 1988

A sampled data controller for the quadruped walking robot is presented. To provide systematic design procedure, the relation between PI gain of velocity controller and sampling rate is analyzed with the ISE performance index and the time responses. The position controller for one-leg, 3-axis, was developed under consideration of compactness and expendability. And several experiments were performed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.131-136
• /
• 1988

In this paper we describe a motion control algorithm for a 4-legged robot over slopped terrain and steps. The new concept of the mechanically constrained angle has been introduced and the algorithm has been developed based on the relationship between the gait stability margin and the slope angle. The result then has been extended to the case where the robot walks over steps.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.113-118
• /
• 1988

The problem of controlling static gaits of a Quadruped Walking Robot is investigated. A theoretical approach to the gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects of the stride length to the static stability are analyzed, and the relations between the static stability and the initial body configurations are examined. Extensive computer simulations are performed to verify the analysis results.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.75-78
• /
• 1987

This paper presents a control algorithm of servo controller for a quadruped walking robot as well as its characteristics and requirements. The control algorithm for propelling and terrain adaptive motion is described. The servo controller is being developed as a sub-project of the national project - "Development of a quadruped walking robot ". And then, this paper focuses on an overview of the current state and future works of this sub-project.b-project.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.25 no.7
• /
• pp.723-733
• /
• 1988

In this paper, A model of 4-legged walking robot is presented by investigating the gait of animals, which can walk with maintaining static stability on irregular terrain. Kinematices of the model robot was analyzed by geometric approach, and a gait control algorithm is proposed for the effective walking on irregular terrain. Terrains are classified into 4 types in order to study the terrain adaptability of the proposed algorithm and it is simulated for each type of terrain.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.28B no.11
• /
• pp.886-896
• /
• 1991

In this paper a new turning gait is proposed for a quadruped walking robot. The proposed scheme makes it possible to control the translation and orientation of the walking robot simultaneously. At first the feasible leg sequences which can guarantee a positive longitudinal gait stability margin for each direction of movement are found. A method for finding the lifting time of each leg of a feasible leg sequince and selecting an optimal gait among feasible gaits is then suggested. The proposed gait can be appled to control the posture of walking robots and to generate an optimal gait for a desired movement of translation and rotation of the walking robot systematically.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.874-876
• /
• 1995

Force and compliance control has been used in the control of legged walking vehicles to achieve superior terrain adaptability on rough terrains. The compliance control requires distribution of the vehicle load over the supporting legs. However, the constraint equations for ground reaction forces of supporting legs are generally underdetermined, allowing an infinite number of solutions. Thus, it is possible to apply an optimization criteria in solving the force setpoint problem. It has been observed that the previous force setpoint optimization methods sometimes cause a system stability problem and/or the load distribution among supporting legs is not well balanced due to a memory effect on the solution trajectory, This paper presents an iterative force setpoint method to solve this problem using an interpolation technique. By simulation it was shown that an excessive load unbalance among supporting legs and the memory effect in the force trajectory are alleviated much with the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1991.11a
• /
• pp.146-154
• /
• 1991

As the application of robotic systems expand its scope, more research efforts are given in providing mobility to the robotic systems so that they can travel across various paths including those with formidable obstacles such as stairways or rough terrains. Legged locomotion is mainly concerned because the walking motion, like that of animal behavior, has many advantages over wheel type or track type locomotion especially in rough terrain. Walking robot, in general, having a discrete number of legs, have inherently low static stability. Static stability can be increased to a certain degree, by improving walking method, but it has many limitations such as reduced travel speed. A very promising possibility lies in the use of balancing weight, nevertheless its actual implementation is very rare. In this study, a 4-legged walking machine is developed and the static stability margin is increased with the balancing weight. In the future, this robot will be used to take an experiment on the walking in mush terrain.

• Landscaping Tree
• /
• s.112
• /
• pp.38-41
• /
• 2009

인천경제자유구역 내의 중앙공원이 2009년 9월에 준공하여 일반시민들에게 개장되었다. 센트럴파크는 동고서저와 강으로 대변되는 한반도의 지형적 특색을 담고 있으며 동고서저는 구릉이 있는 산책로와 낮은 잔디밭으로, 강은 수로로, 다도해 남해는 인공 섬이 있는 수변 공간으로 연출돼 있으며 인공으로 조성된 수로에는 수상택시가 다니고 있다. 지하에는 2,700여대가 추자할 수 있는 주차장을 공원과 분리하여 조성하였고 수로주변에는 보행자 산책로, 자전거도로 등이 조정되고 추후 공원 내 박물관 및 생태관이 조성될 예정이다. 센트럴 파크는 인천광역시 송도동 24-5번지 일원에 위치하고 있으며 면적은$411,319m^2$, 사업기간은 2007. 2. 1 ~ 2009. 7. 31, 사업비는 1,900억원(공원 1,200억원, 주차장 700억원)정도이며 주요시설로는 해수 수로, 수상택시 및 무빙스테이지, 지하주차장, 조각원, 정형식 정원, 초지원, 보트하우스, 비지터센터 등이 있다.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1185-1188
• /
• 1996

In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.