• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.538-538
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• 2000

This paper presents a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of teaming control to biped robotic motion is shown via dynamic simulation with 12 dof biped robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2812-2814
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• 2005

본 논문에서는 이족보행 로붓의 보행패턴의 한 가지 방법으로 무릎을 피고 걷는 stretch 보행 알고리즘을 제안한다. 이전의 보행 알고리즘은 무릎을 구부리고 걷는 것이 대부분이다. 일반적으로 사람들이 걸을 때는 무릎을 거의 피고 걷기 때문에 사람과 비슷한 보행을 위해서 자세보정 시 Zero Moment Point(ZMP)를 이용한 무릎관절을 피고 걷는 보행 알고리즘을 제안하고 이의 구현을 위한 실험 수행을 통해 그 성능을 평가한다. 로봇은 보행상태에서 몸이나 발의 위치, 각도 등에 대한 보정작업이 없다면, 이로 인해 로봇의 궤적에 오차가 발생하게 되고, 그 결과 불안정하고 부자연스러운 보행을 하게 된다. 이러한 불안정성을 ZMP를 이용하여 보정 할 수 있다.

• 한국CDE학회지
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• 제18권1호
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• pp.11-16
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• 2012

• 한국정밀공학회지
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• 제23권7호
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• pp.24-29
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• 2006

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.567-572
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• 2004

In this research, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized polynomial approximation of the trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.948-953
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• 2004

For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.648-651
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• 2004

Biped robot has better mobility than other mobile robot, but it is hard to maintain balance during walking. In order to maintain balance, stability analysis is a key point for a biped robot. The zero moment point analysis has been used most in stability analysis. In this paper, we propose different method of stability analysis using wrench system. It is possible to generate a wrench system by applying a force along an axis in space and simultaneously applying a moment about the same axis. Wrench system is equivalent to a force and moment applied along the same axis. We compare the result of wrench system analysis with that of zero moment analysis in biped robot stability using simulation program.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.315-318
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• 1995

In this paper, an optimal trunk trajectory for stable walking of biped robots is expressed as a simple differential equation, which is then solved by numerical methods. We used ZMP (Zero Moment Point), the virtual total ground reaction point within the region of the supporting food, as the criterion of stability of biped robot walking. If the ZMP is located outside of the stable region in dynamic walking, biped robots fall down. The biped robot considered in this paper consists of two legs and a trunk. The trajectories of the two legs and the ZMP of the biped robot are determined such that they are similar ti those of a human. Based upon those trajectories, the trunk trajectory is solved by numerically integrating differential dynamic equations. Leg motions are controlled by the computed torque control method. The effectiveness of control algorithm as well as the trajectories is confirmed by computer simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.15-18
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.805-809
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• 2003

We developed a human-sized BWR(biped walking robot) named KUBIR1 driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIR1 was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize the information on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interface was developed based on the OpenGL tool. Through the graphic interface, the control input of KUBIR1 is performed.