• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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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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• 1996.10b
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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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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• 1992.10a
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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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.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.10
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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.

• Journal of Korea Entertainment Industry Association
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• v.8 no.2
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• pp.283-297
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• 2014

The future of human life is expected to be innovative by increasing social, economic, political and personal, including all areas of life across the multi-disciplinary skills. Particularly, in the field of robotics and next-generation games with robots, by multidisciplinary contributions and interaction, convergence between technology is expected to accelerate more and more. The purpose of this study is that by new interface model beyond the technical limitations of the "human-robot interface technology," until now and time and spatial constraints and through fusion of various modalities which existing human-robot interface technologies can't have, the research of more reliable and easy free "human-robot interface technology". This is the research of robot game system which develop and utilizing real time synchronization engine linking between biped humanoid robot and the behavior of the position value of mobile device screen's 3D content (contents), robot (virtual robots), the wireless protocol for sending and receiving (Protocol) mutual information and development of a teaching program of "Direct Teaching & Play" by the study for effective teaching.

• The Journal of Korea Robotics Society
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• v.6 no.4
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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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.