• 대한기계학회논문집A
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• 제41권9호
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• pp.825-837
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• 2017

본 논문에서는 하지 보행 장애를 가진 환자가 사용하는 크러치에 로봇 기술이 적용된 새로운 타입의 착용식 족형 보행 재활 로봇에 대해 서술하였다. 개발된 로봇의 주된 특징은 크게 세 가지로 나뉜다. 첫 번째, 착용 방식의 특징으로서, 팔꿈치에 착용하여 환자를 보조하는 엘보 크러치와 달리 환자의 가슴부에 족형 로봇을 착용함으로써 보행 시 넓은 가슴 면적으로부터 하중을 분산시키고 팔에 작용하는 집중 하중을 제거하였으며, 팔과 손의 움직임을 자유롭게 하였다. 두 번째, 사용자의 보행 의지를 파악하는 방법으로서, 족형 로봇의 발에 부착된 3축 힘센서를 이용하여 지면 반발력의 크기와 방향으로부터 사용자의 보행의도를 추정하는 알고리즘을 제안하였고 이에 따라 가슴 착용형 로봇을 보행시켰다. 마지막으로, 계단 보행을 위한 근력 강화 방법으로서, 둔턱을 오르내리는 근력 훈련이 가능하도록 바닥 높낮이에 따라 상하 운동 궤적이 변화할 수 있는 둔턱 보행 기능을 구현하였다. 최종적으로 개발된 로봇이 보행 의도를 인지하고 로봇 다리로부터 보행 보조를 효과적으로 수행할 수 있다는 것을 실험을 통하여 확인하였고, 하지 근전도 측정을 통하여 보행 시 로봇이 하지 근력을 보조하는 성능을 정량적으로 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.377-378
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• 2010

• 로봇학회논문지
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• 제14권4호
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• pp.264-269
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• 2019

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

• 제어로봇시스템학회논문지
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• 제9권5호
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• pp.368-373
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• 2003

This paper presents a cost-effective 3D foot scanner system that provides the 3-dimensional point cloud foot data to design the custom footwear. To measure the 3-dimensional point cloud data of the foot, a CCD camera, a Non-Gaussian laser line projector and optical triangulation method are employed. Furthermore, the integrated system employs a measurement base, a frame grabber, a CCD moving cart, a stepping motor and a computer. The measurement result is saved as 3D dxf format and it could be converted to 2D essential data fer a shoe design. The experimental results demonstrate that the proposed system have the decent resolution of 1mm which is enough for last and shoe design.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1017-1021
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• 2004

In this paper, a cost-effective integrated 3D system for measuring and sizing foot is proposed. The proposed system employs two CCDs and a laser line projector which are capable of accurately measuring foot. The measurement is based upon the biologically motivated stereo vision principle providing ruggedness against minor system distortions. According to the tolerance, calibration between two different views are implicitly applied. Furthermore, the measurement system employs a measurement base, a frame grabber, a CCD moving cart, a stepping motor and computer. Analysis and design procedure is presented for the calculation of the 3D foot data and the proposed system. Experimental results on the proposed system would verify the concept and system operation.

• 제어로봇시스템학회논문지
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• 제21권12호
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• pp.1193-1200
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• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• 한국정보통신학회논문지
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• 제8권7호
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• pp.1418-1423
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• 2004

관절형 로봇은 바퀴구동로봇에 비해 인간과 비슷한 형태를 갖추고 있어 친화성이 높고 관절로 인하여 자유도가 높으며 접지점을 임의로 설정할 수 있다. 또한 접지위치와 본체와의 상대위치를 자유로이 설정할 수 있으며 관절을 매니플레이터로서 사용할 수도 있는 장점을 가지고 있다. 이에 반해 많은 자유도를 가지고 있어 기구가 복잡하고 이동속도가 바퀴구동로봇에 비해 늦으며 이동시 진동이 일어나기 쉽고 로봇이 넘어지지 않도록 하는 특별한 제어가 필요하게 된다. 많은 생물들의 기본다리인 4족형 구조는 동적안정을 유지하면서 이동을 계속할 수 있고, 또 보행중에도 기구적으로 쓰러짐을 회피할 수 있는 완전보행을 실현하는 최소한의 관절수로 구성되어 있는 보행형태이다. 이러한 보행실험을 위해 4족 보행로봇인 TITAN-VIII을 이용하여 Trot 보행 알고리즘을 연구하여 보행 실험을 행하였다.

• 한국군사과학기술학회지
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• 제12권4호
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.

• 로봇학회논문지
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• 제17권1호
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• pp.48-57
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• 2022

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.