• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.574-577
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• 2001

This paper presents the comparison of FRI(Foot Rotation Indicator) point and ZMP(Zero Moment Point) in biped robot stability. We showed FRI may be employed as a useful tool in stability analysis in biped robot. Also, we proposed the balancing joint trajectory derived from FRI point equation for stable gait. The numerical calculation routines and walking algorithms for simulation are performed by MATLAB. The procedure is composed of the leg trajectory planning, the generation of balancing trajectory, and the verification of dynamic stability.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.458-461
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• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. 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. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.157-167
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• 1998

In this paper it is purpose that reduces joint torques and their rate of change through optimizing trajectory planning of biped walking machine. The motion of biped walking machine is divided into leg motion for walking and body motion for keeping balance. The leg motion is planned by three phases, that are deploy, swing, and place phases, in terms of the state of foot against floor. The distribution of time assigned to each phase is optimized and that causes leg joint torques and their rate of change to minimize. The body notion is produced by using optimal control theory which minimizes body joint torques and satisfies Z.M.P. constraints defined as region of each phase.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.507-510
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• 2002

We developed a human-sized BWR(biped walking robot) named KUBIRI driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIRI was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize informations 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 interfacer was developed based on the open inventor tool. Through the graphic interfacer, the control input of KUBIRI is performed.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.445-446
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• 2007

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.659-667
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• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.148-155
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained, as proved by the experiments.

• ICROS
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• v.18 no.1
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• pp.26-30
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• 2012

생체 모방 로봇은 생명체에서 영감을 얻어 새로운 로봇분야를 개척하고 기존의 로봇으로는 하기 힘들었던 한계점들을 극복하는데 목적이 있다. 이러한 생체 모방 로봇은 간단한 생물체의 형태 혹은 메커니즘의 모방으로부터 시작되어 바퀴가 갈 수 없었던 험지, 혹은 하수구, 좁은 통로에서 사용될 수 있는 로봇들을 개발하는 데 초점이 맞추어져 있었다. 이러한 로봇들의 예로써는 크게 이족 보행, 4족 보행, 다족 보행 로봇 등 생물체의 이동 메커니즘을 모방한 로봇들이 있다. 이러한 연구들은 기존 로봇에 사용되었던 재료, 제작 방법을 이용한 것이었다. 하지만 최근 생체 모방 로봇 기술은 새로운 접근 방법, 새로운 재료를 이용한 제작방법으로 기존의 로봇과는 다른 형태로 진화하고 있다. 이러한 기술은 경량화 기술, 초 소형화 기술, 3차원 프린팅 기술 그리고 소프트 물질을 이용한 제작 방법 등이 있다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.505-506
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• 2008

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2791-2794
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• 2003

This paper has been working on designing a small size bipedal robot for research purpose. This paper shows the design purpose and design procedure for HJ-1 small size bipedal robot, how it's controll system has been constructed and how its link and structural architecture has been designed.