• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.767-772
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• 2011

Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.8
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• pp.135-143
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• 2003

This paper presents the impact minimization of a biped robot by using genetic algorithm. In case we want to accomplish the designed plan under the special environments, a robot will be required to have walking capability and patterns with legs, which are in a similar manner as the gaits of insects, dogs and human beings. In order to walk more effectively, studies of mobile robot movement are needed. To generate optimal motion for a biped robot, we employ genetic algorithm. Genetic algorithm is searching for technology that can look for solution from the whole district, and it is possible to search optimal solution from a fitness function that needs not to solve differential equation. In this paper, we generate trajectories of gait and trunk motion by using genetic algorithm. Using genetic algorithm not only on gait trajectory but also on trunk motion trajectory, we can obtain the smoothly stable motion of robot that has the least impact during the walk. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.536-539
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• 1997

This paper presents a three dimensional modeling and a trajectory generation for minimized impact walking of the biped robot. Inverse dynamic analysis and forward dynamic analysis are performed considering impact force between the foot and ground for determining the actuator capacity and for simulating the proposed biped walking robot. Double support phase walking is considered for close to human's with adding the kinematic constraints on the one of the single support phase.

• Proceedings of the KGS Conference
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• 2002.11a
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• pp.68-73
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• 2002

14~19세기를 거치면서 종법사상의 보급, 동성동본의식의 강화, 부계혈통 중심의 친족의식, 장자우대 관행, 족보간행 등과 더불어 한국의 종족집단(宗族集團)은 사회적 구성에서 중요한 단위로 부각되었다. 종족집단이 갖는 당대의 이 같은 사회적 단위성은 시ㆍ공간상에 다양한 패턴과 경관으로 표출되었는데, 그 중에서 지리학적으로 가장 의미 있는 현상이 '거주지 이동'과 '종족촌락(宗族村落)의 기원'이다.(중략)

• Proceedings of the Korea Information Processing Society Conference
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• 2000.10b
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• pp.1293-1296
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• 2000

인터넷 사용인구가 늘어나면서 다양한 종류의 정보를 제공하는 곳이 늘고 있다. 족보 사이트나 가계도 검색 사이트 같은 서비스도 개발되었다. 그 중에서 가문별 가계도 검색 서비스는 특정 가계나 특정 데이터베이스에 종속되는 경향이 있다. 이에 본 논문에서는 어떠한 환경에서도 원하는 가계도를 검색할 수 있도록 표준 SQL 질의문과 JAVA를 사용하여 RDBMS상의 가계 관계의 가계도를 표현하는 방법을 제안한다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.683-693
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• 2010

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

• Journal of architectural history
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• v.13 no.3
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• pp.51-67
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• 2004

The purpose of this study is to bring light on the characteristics of the transition in the Ddeulzip. The subject of this study is clan village of Pungsan Kim's family in Andong Cultural Area. Architectural transition of Ddeulzip is analyzed into three part. The first part is settlement of family. In this process, there is a background and many types of settlement. The second part is the extension of family. The extensional types are 'near-by branch' and 'far-away branch'. The last part is variation of housing. Spacial requests of residence are changed endlessly. Thus the spacial types of Ddeulzip are changed by the construction time of building. In many case, we couldn't decide the building period. The genealogy of Chosun Dynasty is the base of family history. In this study, the construction activity of Ddeulzip is based on the genealogy. The phylogenetic tree of Ddeulzip in clan village is constructed by the genealogy. The figures of the type of bunch of grapes is made by phylogenetic tree based on the genealogy. Omi Village in Andong was settled at first in the 15C. The cause of settlement is the aim of escape from political oppression. For long time, Omi Village is developed gradually. There area is divided in some small family boundary. There spacial types are contained the characteristics of many times. Orock Village in Bonghwa is settled for search of best environment in the last of 17C. At that time, a lot of families of same clan are gathered in that village. For short time, Orock Village is enlarged quickly. Thus there spacial type is similar each other. But boundary of entire space of outdoor is constructed clearly by pavilion area, housing area and sanctuary area.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.523-525
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• 2004

Over the last few years, the control of bipedal robot has been considered a promising research field in the community of robotics. But the problems we encounter make the control of a bipedal robot a hard task. The complicated link connection of the bipedal robot makes it impossible to achieve its exact model. In addition, the joint velocity is needed to accomplish good control performance. In this paper a control method using ANFIS as an system approximator is purposed. First a model biped robot of a biped robot with switching leg influence is presented. Unlike classical method, ANFIS approximation error estimator is inserted in the system for tuning the ANFIS. In the entire system, only ANFIS is used to approximate the uncertain system. ANFIS tuning rule is given combining the observation error, control error and ANFIS approximation error. But this needs velocity information which is not available. So a practical method is newly presented. Finally, computer simulation results is presented to show this control method has good position tracking performance and robustness without need for leg switching acknowledgement.