• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.561-565
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• 2000

This paper deals with dynamic walking and inverse dynamic analysis of the IWR biped walking robot. The system has nine bodies of the multibody dynamics. and all of the .joints of them are made up of the revolute joints at first. The problem of redundant constraint in double support phase is solved by changing the type of the joints considering kinematic relation. To make sure of its dynamic walking, the movement of balancing weight is determined by which satisfies not only the condition of ZMP by applying the principle of D'Alembert but also the contact condition of the ground. The modeling of IWR and dynamic walking are realized using DADS.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.63-64
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• 2006

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.7
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• pp.55-62
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• 2010

In this paper, the structure of a new gravity compensator was studied, and the biped walking robot applying a gravity compensator was presented to improve the performance of the robot. The robot had 13 degree of freedom and is driven by the joint actuator with the gravity compensator. Each leg of the robot is composed of six joints three joints at the hip, a joint at the knee, and two joints at the ankle. The leg of the robot was designed to support 74kg weight including 30kg payload thanks to the gravity compensator. The performance of the robot was presented by reducing the payload applied to the leg joint of the robot thanks to the gravity compensator.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.115-123
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• 2004

This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(Finite Difference Method). In this paper, optimal index is defined to dynamically stable walking of a biped robot, and genetic algorithm is applied to optimize gait trajectory and balancing motion of a biped robot. By genetic algorithm, the index of walking parameter is efficiently optimized, and dynamic walking stability is verified by ZMP verification equation. Genetic algorithm is only applied to balancing motion, and is totally applied to whole trajectory. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• Communications of Mathematical Education
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• v.28 no.3
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• pp.321-338
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• 2014

In this paper, we introduce the history and the present status of the Mathematics Genealogy Project (MGP). The cases of David Hilbert and the first author were used to show how it works. As an example, we explain how to gain useful information such as the granting year of mathematics Ph. D degree holders, the title of dissertation, advisors and descendants from the MGP website. Through a survey of three different groups in MGP on 20~30 significant Korean mathematicians, we found that Korean records in the academic genealogy project are missing or poorly presented in the database of the MGP website. In conclusion, we found a way to improve the situation and provide instructions to submit our information to MGP. We expect our effort can help Korean mathematics and mathematicians to become better exposed to the world. It will help others to understand both the modern history and the future prospect of Korean mathematics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.153-154
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• 2009

• 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

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.596-600
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• 2017

이 논문에서는 1자유도 시스템이며, DC모터로 간단히 구동 가능한 로봇으로, Jansen Mechanism을 사용한 4족보행 로봇을 설계 및 제작하고, 센서를 사용한 탐사 수행의 예시로 라인 트레이싱을 구현, 성능 테스트를 통해 차기 연구용 및 단가가 낮은 대량 생산형 로봇으로서의 가능성을 검증한다.

• Journal of KIISE:Databases
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• v.31 no.1
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• pp.72-81
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• 2004

Theses days, a number of data over the Internet are represented using XML because of a virtue of XML. In proportion to the increase of XML data, query processing techniques are required that support quickly and efficiently the diverse queries to search the useful information on XML documents. But, up to now, the researches handling queries for XML data are methodologies focusing on how to process regular path expressions. Therefore, we have developed a new genealogy-based indexing technique to solve various queries such as not only regular path expression but also simple path expression, path expression referencing other elements, and so on. Also, we have applied this technique on object-relational model and evaluated the performance for many documents and various query types. The result shows improved performance in comparison with the other storage techniques.