• 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 KIEE Conference
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• 2007.10a
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• pp.329-330
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• 2007

지능형 로봇에서 환경인식과 이러한 환경에 따른 행동 결정능력은 로봇이 필수적으로 갖추어야 할 기능이다. 본 논문은 이족로봇 플랫폼에서 비전기반 환경인식과 이를 통한 안정적인 보행 제어시스템을 제안한다. 비전기반 환경인식 시스템은 움직임 모델을 이용한 로봇 자체 움직임 보정 모듈, Adaboost를 이용한 장애물 영역 추출, PCA를 이용한 장애물 특징 추출, Hierarchical SVM을 이용한 장애물 인식 모듈로 구성되어 있으며, 이러한 환경 인식 시스템으로부터 보행 제어 시스템은 상황에 맞는 안정적이 보행 궤적을 생성한다. 보행 제어 시스템은 neural network을 이용하여 보행 궤적 생성 모듈과 보행 오차를 보정하기 위한 fuzzy 제어기 모듈로 구성되어 있다. 본 시스템을 제작한 로봇에 적용한 결과 보다 안정적인 보행을 할 수 있었다.

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

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.2
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• pp.173-178
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• 2017

As research on the practical use of robots has continued since the past, advancements into each field of society are being continuously tried in modern society, breaking bounds from the previous experimental environment. However, in order for robots to be applied to the real environment, the production cost, which is considered to be the biggest disadvantage of commercializing the existing robot platform, and the adaptability issue in working environments in terms of human standards must be considered. This paper proposes a robot of biped walking form, which conforms to the degree of freedom and the size of human beings. By replacing the encoder with a combined module of potentiometer, the high cost of production is reduced, and by adopting a modular design that is easy to replace parts, the maintenance cost of robots is reduced. Finally, stability was verified by applying a walking pattern to two dummy robots of different sizes and motor arrangements. In this paper, after developing the real biped walking robots, the performance and usability were verified through walking experiments and applying the walking pattern using the developed robots.

• Journal of the Korea Computer Graphics Society
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• v.23 no.2
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• pp.23-27
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• 2017

We propose an inter-leg collision avoidance method that compensates the disadvantage of the data-driven biped control method. The data-driven biped control technique proposed by Lee et. al [1] sometimes generates the movement that the two legs intersect with each other while walking, which can not be realized in walking of a real person or a biped robot. The proposed method changes the angle of the swing hip so that the swing foot can move inward only after passing the stance foot. This process introduces an additional angle adjustment algorithm to avoid collisions with the stance leg to the original feedback rule of the stance hip. It generates a stable walking simulation without any inter-leg collisions, by adding minimal changes and additional calculations to the existing controller behavior.

• 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.

• Proceedings of the KSME Conference
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• 2005.11a
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• pp.203.2-203.2
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• 2005

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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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.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.24-29
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• 2006