• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.448-453
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• 2012

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid wheeled and legged mobile robot is designed and a obstacle avoidance algorithm is proposed based on low power walking using LRF(Laser Range Finder). In order to stabilize the robot's motion and reduce energy consumption, we implement a low-power walking algorithm through comparison of the current value of each motors and correction of posture balance. A low-power obstacle avoidance algorithm is proposed by using LRF sensor. We improve walking stability by distributing power consumption and reduce energy consumption by selecting a shortest navigation path of the robot. The proposed methods are verified through walking and navigation experiments with the developed hybrid robot.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1665-1674
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• 2013

In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.

• Proceedings of the KAIS Fall Conference
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• 2009.05a
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• pp.119-122
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• 2009

본 연구는 뇌졸중으로 인한 편마비 환자 20명을 대상으로 총 8주간 시지각 운동 과제를 적용하여 자세 균형, 보행 양상에 미치는 효과를 검증하고자 시행하였다. 실험군(n=10)과 대조군(n=10) 모두 보존적인 물리치료를 실시하였고 실험군에는 시지각 운동 과제 프로그램을 더하여 실시하였다. 본 연구의 결과는 실험군의 되먹임 측정을 통한 자세 균형 검사에서 편평한 지면 위에서 눈을 뜨고 감은 상태의 안정성 지수는 유의한 감소를 보였으며, pillow 위에서 눈을 뜨고 감은 상태의 안정성 지수도 유의하게 감소하였다. 체중분포지수는 편평한 지면에서 눈을 뜨고, 감은 상태와 pillow 위에서 눈을 뜨고 감은 상태 모두에서 유의하게 감소하였다. 실험군에서 10m 보행 속도는 대조군과 달리 유의하게 증가하였다. 본 연구에서의 시지각적 운동과제 프로그램은 편마비 환자의 신체기능과 관련된 자세균형 및 보행을 증진시키는 효과가 있었고 이에 보다 효과적인 운동방법으로 제시할 수 있다.

• Journal of KIISE:Software and Applications
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• v.36 no.2
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• pp.131-143
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• 2009

Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG (Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.5 s.311
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• pp.19-27
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• 2006

Improvement in gait stability of fault-tolerant gaits for quadruped robots is addressed in this paper. The previously developed fault-tolerant gait gives a quadruped robot the ability to continue its walk against the occurrence of a leg failure. But it has a drawback of having marginal gait stability, which may lead to tumbling when the robot body's center of gravity is perturbed. To overcome such a drawback, a novel fault-tolerant gait is presented in this paper that generates positive stability margin against a locked joint failure, in which a joint of a leg is locked in a known place. Positive stability margin is obtained by adjusting foot positions of supporting legs between leg swing sequences. The advantages of the proposed fault-tolerant gait are discussed by comparing with the previous gait in terms of gait stability, stride length and gait velocity.

• Journal of Convergence for Information Technology
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• v.8 no.1
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• pp.9-14
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• 2018

The purpose of this study was to privide basic data for footwear development according to walking mechanics by comparing gait cycle difference between barefoot walking and walking shoes. The walking period was measured in 30 normal adult women with no foot deformity and abnormality. The first subject walked in sneakers and measured the cycle. And then, the subjects walked barefoot and the period was measured to obtain data. The data were taken form corresponding paired T-test. The results were as follows: In barefoot walking, the stance phase left side(p <.001), right side(p <.005), the loading response left side(p <.009), right side(p <.002) ), the pre-swing left side(p <.002), right side (p <.011), the double stance phase(p <.004) were increased and the mid-stance left side (p <.016), right side(p. 001), the swing phase left side(p<.001) was decreased. This suggests that barefoot walking increases the input of various senses of the foot, which makes stable walking possible. It is necessary to improve shoes based on the walking cycle in the future.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1247-1252
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• 2005

Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.516-526
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• 2017

본 논문은 테오얀센 메커니즘을 적용한 보행 로봇 형상 및 라인 트레이싱을 위한 센서의 최적 설계를 수행한다. 소프트웨어를 활용하여 보행 로봇의 운동학적 해석(보행 곡선 추적, Ground Length, Ground Angle Coefficient), 최적화 및 상세 설계, 센서 추적 관련 시뮬레이션을 수행하고 분석하여 속도가 빠르며 안정적으로 주행하는 테오얀센 메커니즘 모델을 제안한다.

• Journal of the Institute of Convergence Signal Processing
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• v.14 no.2
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• pp.124-129
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• 2013

Hexapod walking robots are superior to biped or quadruped ones in terms of walking stability. Therefore hexapod robots have the advantage in performing intelligent tasks based on walking stability. In this paper, we propose a hexapod robot that has one fore leg, one hind leg, two left legs, and two right legs and can perform various intelligent tasks. We build the robot by using 26 motors and implement a controller which consists of a host PC, a DSP main controller, an AVR auxiliary controller, and smart phone/pad. We show by several experiments that the implemented robot can perform various intelligent tasks such as uneven surface walking, tracking and kicking a ball, remote control and 3D monitoring by using data obtained from stereo camera, infrared sensors, ultra sound sensors, and contact sensors.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.1064-1065
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• 2017

트레드밀 인터페이스는 사용자의 보행 모션을 인식하여 가상세계를 네비게이션 할 수 있는 보행 플랫폼이다. 특히 작은 보행 영역을 가지는 트레드밀의 경우, 보행자 속도 예측 방법에 의해 더욱 효과적인 지면 모션의 생성이 가능하다. 본 연구에서는 착용형 압력 센서로 부터 측정되는 족부 압력 데이터를 기반으로 하는 보행속도 예측 방법과 트레드밀 제어 방법을 제시하고자 한다. 속도 예측은 지면 반발력 데이터 중 압력중심의 변화 속도를 통해 도출되며, 예측된 속도를 트레드밀 속도 제어에 안정적으로 적용하기 위한 피드포워드 제어 방법을 제시한다. 또한 족부 압력 데이터 측정이 가능한 자율 제어 트레드밀 시스템 구현과 보행 실험 과정을 소개한다.