• 건강소식
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• v.35 no.5
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• pp.26-27
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• 2011

사람이 받은 가장 큰 축복은 이족(二足)보행이다. 걷기는 건강 이전에 삶과 떼려야 뗄 수 없다. 일반적으로 현대인의 하루 걷는 양은 많아도 5,000보이고 활동량이 적은 경우에는 1,000보도 채 되지 않는다. 하루에 6,000보 정도만 걸어도 건강을 지킬 수 있다. 그렇다면 걷기는 어디에서 어떻게 하는 것이 좋으며 걸어야 하는 것일까.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.297-298
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• 2011

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.417-425
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• 2012

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• Annual Conference of KIPS
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• 2005.11a
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• pp.1433-1436
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• 2005

임베디드 시스템의 발전으로 현재 진보된 로봇 시스템들은 운영 체제, 비젼 시스템 및 센서 시스템들을 별도의 호스트 PC의 도움 없이 독립적으로 탑재하여 가동 시킬 수 있다. 본 논문에서는 임베디드 시스템을 이용한 SBER (Small Biped Entertainment Robot)에 필요한 로봇의 제어기 구조와 로봇에 최적화된 임베디드 시스템을 구현한다. 또한 주 프로세서와 주 컨트롤러를 탑재한 최적화된 소형 엔터테인먼트 이족 로봇 개발을 목적으로 한다. SBER은 TI사의 DSP인 TMS320LF2407A를 로봇의 주 컨트롤러로 사용하여 로봇의 관절 제어를 통한 기본적인 보행 실험과 음원의 위치를 파악하기 위한 음원 위치 추적 문제를(Sound Localization) 수행한다. 또한 Intel사의 PXA255A를 주 프로세서로 사용하여 연산량이 높은 영상처리 알고리즘과 감정 표현, 장애물 인식 및 장애물 회피를 적용하여 보다 지능적인 로봇 시스템을 구현한다.

• Cross-Cultural Studies
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• v.29
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• pp.153-176
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• 2012

This study focused on concretely how minority group's attitude accepting han-zu's culture changes. In the past, minority group's culture and han-zu's culture were acculturated spontaneously, not forcibly. But as the people's republic of china was founded and control of chinese government was intensified, control and interference of minority group area became aggressive, and acculturation became compulsory. However, after chinese economic reform, by economic affluence and modernization and urbanization according to economic affluence, acculturation of minority group's culture and han-zu's culture is changing from forced acculturation to spontaneous acculturation. Still there are some areas where mutual friction lasts because of forced acculturation. But except some areas the stream is changing rapidly to spontaneous acculturation. In the text, this study investigated process and present state of acculturation focused on hui-zu that implemented aggressive acceptance of han-zu's culture relatively early. Then this study investigated yi-zu society and cultural change focused on their spontaneous acculturation. In the modern society setting a high value on convenience and personal happiness rather than ideology and value, value of race becomes less attractive to young people of minority group who know modern civilization and convenience of city. In this respect, maybe hui-zu society is future of yi-zu society and minority group society.

• Journal of Science of Art and Design
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• v.7
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• pp.128-149
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• 2005

Zou Si Cong is a very significant female artist from the period when China was forming its modern arts and culture. Zou Si Cong, who was influenced by China's political and social upheaval, was born in 1939 and died in 1996. Her actual work period was after China's 'Cultural Revolution' and lasted only 13 years, from 1978 to 1990. Her passion for art never stopped, even when she was suffering from severe arthritis with its torturing pain. There were big changes that occurred in her work; 'Early Work', 'Realistic Work', 'Mine Worker Painting', 'Yi Tribe' Painting', 'Lotus Paintings'. 'Mine Worker Painting', which represented a new figure by abandoning traditional techniques, dividing picture space, and changing and distorting forms, was the one that had the greatest impact of all on a lot of people and strongly influenced modern Chinese figurative painting. The characteristics of Zou Si Cong's work are in its 'Traditionalism', 'Realism, and 'Historical' aspects. Zou Si Cong developed her uniqueness, along with Western expressions, based on traditional Chinese painting techniques. Realism, through realistic rendering, appeared in her figurative paintings during the Cultural Revolution Period. 'Yi Tribe' paintings lively illustrated their lives. She creatively reinterpreted history in the composition of Mine Workers, which is based on the historical record of Chinese barbarity.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.249-251
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• 2005

For walking patterns of biped robots, knee-bent patterns are used in most cases. However, humans are mostly walking with their knees nearly stretched. In this paper, a human-like walking algorithm using hybrid system is proposed for biped robots, The hybrid system consists of the logically constituted discrete system, in which the discrete states are defined by considering the walking characteristics, and the continuous state system used for motor control. It is shown that the proposed algorithm is effective by experimental studies.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.594-596
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• 2005

This paper present 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 learning control to biped robotic motion is shown via dynamic simulation and experimental results with 24 DOF biped robot.