• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1475-1478
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• 2004

This paper describes map building for the path planning to avoid obstacles with vision sensor and ultrasonic sensor. We get the 2 dimensional information from the processed images of CCD sensor and 1 dimensional range information from ultrasonic sensor. I proposed a way to generate the map which contains these two kinds of information in the program. And we made the biped robot which have 20 DOF with these sensors and get good experimental result to prove the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1185-1188
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• 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.114-117
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• 2000

We developed a motion capture system to get angle data of human joints in walking mode. The data are used to coordinate the biped-walking robot developed in our laboratory. A pair of motion capture system is composed of three links with the ankle, knee, and pelvis joints. The system has six axes attached with potentiometers. We used an A/D converter was used to get digital data from joint angles. We filterd the data using the Butterworth 4th order digital filter, and simulated walking motion based on the data using the Matlab.

• 대한기계학회논문집A
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• 제30권6호
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• pp.643-652
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• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.583-586
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. The four bar mechanism has higher strength and gear ratio than the conventional actuator to actutate the leg of the biped robot. One leg was designed to have ankle, thigh, and hip joints. The kinematics and dynamics of one leg with four bar link mechanism was analyzed using Euler-Lagrange approach. The dynamics of one leg was expressed in the ball strew frame.

• 한국소음진동공학회논문집
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• 제17권10호
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• pp.907-911
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• 2007

Compliance of joints must be considered when we analyze dynamics of a multi-body system. If the virtual model for CAE(computer aided engineering) analysis does not consider compliance, the result of CAE analysis can be very different from the actual experimental result. Especially in a biped walking robot, the robot may lose walking stability due to the compliance in joints of a walking robot. This paper proposed a method applying a compliance of joints in the biped walking robot to a virtual model. Also, through the 3-D displacement measurement using a laser tracker, it was demonstrated that the virtual model considering the joint compliance could effectively simulate the nonlinear motion of the real model.

• 한국엔터테인먼트산업학회논문지
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• 제8권2호
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• pp.283-297
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• 2014

미래 인간의 삶은 사회, 경제, 정치와 개인 등 삶의 전 영역에 걸쳐 다학제적 기술의 파급효과 증대에 의해 혁신될 것이다. 특히 로봇 분야와 로봇을 이용한 차세대 게임 분야에서는 다학제적 기여와 상호작용에 의해 더욱 더 기술간 융합화가 가속화 될 것으로 전망된다. 본 연구는 지금까지의 "인간-로봇 인터페이스 기술"의 기술적인 한계 및 시공간적 제약을 뛰어넘는 새로운 인터페이스 모델로, 기존 인간-로봇 인터페이스 기술에서 가질 수 없는 다양한 모달리티(modality)들의 융합을 통해 보다 신뢰성 있으며 편하고 자유로운 "인간-로봇 인터페이스 기술"의 연구이다. 이족보행의 휴먼로봇과 모바일 기기 화면의 3D 콘텐츠(contents) 로봇(가상로봇)의 동작과 위치 값을 실시간적으로 연동하는 동기화(Synchronization) 엔진을 개발하고, 상호간의 정보를 주고받기 위한 무선 프로토콜(Protocol) 및 효율적인 티칭(Teaching)을 위한 학습에 의한, 다이렉트 티칭앤플레이(Direct Teaching & Play)의 티칭 프로그램 개발과, 이를 이용한 로봇 게임 시스템을 연구한다.

• 로봇학회논문지
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• 제6권4호
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• pp.301-307
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• 2011

Based on the stability criteria of ZMP (Zero Moment Point), this paper proposes an adjusting algorithm that modifies walking trajectory of a bipedal robot for stable walking by analyzing ZMP trajectory of it. In order to maintain walking balance of the bipedal robot, ZMP should be located within a supporting polygon that is determined by the foot supporting area with stability margin. Initially tilting imposed to the trajectory of the upper body is proposed to transfer ZMP of the given walking trajectory into the stable region for the minimum stability. A neural network method is also proposed for the stable walking trajectory of the biped robot. It uses backpropagation learning with angles and angular velocities of all joints with tilting to get the improved walking trajectory. By applying the optimized walking trajectory that is obtained with the neural network model, the ZMP trajectory of the bipedal robot is certainly located within a stable area of the supporting polygon. Experimental results show that the optimally learned trajectory with neural network gives more stability even though the tilting of the pelvic joint has a great role for walking stability.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.