• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.466-472
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• 2013

In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.885-888
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• 2005

본 논문에서는 카메라가 장착된 2 족 보행 로봇을 이용한 얼굴 검출 및 추적 시스템을 제안한다. 제안된 시스템은 PCA(Principal Component Analysis) 기반의 시스템으로서 얼굴을 검출하기 위해 먼저, 스킨칼라 정보와 모션 정보를 사용하고, 그 이후에 PCA 를 사용하여 스킨칼라 영역에서 실제 얼굴이 있는지를 검증 한다. 새로 검출된 얼굴과 이전에 추적되는 얼굴 사이의 동일성은 Eigenspace 상에서의 Euclidian distance 를 사용하여 검증한다. 2 족 보행 로봇이 얼굴을 추적하기 위해서는, 검출된 얼굴 영역이 카메라 스크린 중심 영역에 계속 유지되도록 로봇의 움직임을 조절해 간다. 제안된 시스템은 움직임이 많고, 조명 변화나 배경의 변화가 심한 환경에서도, 얼굴을 잘 검출하고 추적 하였으며, 다른 2 족 보행 시스템이나 인간과 로봇의 상호작용을 위한 제스처 인식 시스템으로의 확장도 가능하다.

• Journal of the Institute of Convergence Signal Processing
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• v.14 no.2
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• pp.124-129
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• 2013

Hexapod walking robots are superior to biped or quadruped ones in terms of walking stability. Therefore hexapod robots have the advantage in performing intelligent tasks based on walking stability. In this paper, we propose a hexapod robot that has one fore leg, one hind leg, two left legs, and two right legs and can perform various intelligent tasks. We build the robot by using 26 motors and implement a controller which consists of a host PC, a DSP main controller, an AVR auxiliary controller, and smart phone/pad. We show by several experiments that the implemented robot can perform various intelligent tasks such as uneven surface walking, tracking and kicking a ball, remote control and 3D monitoring by using data obtained from stereo camera, infrared sensors, ultra sound sensors, and contact sensors.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.522-525
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• 2007

Most big difference of existing robot and biped robot stays at the leg. The wheel is very efficient with the portability than the leg. However biped robot can accomplish many role height. But The two thing which we take the center to the leg and walk to the stability is not easy work. Therefore this proposal make efforts that we try to find technical element for the walking of the robot through its design and implementation.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.260-262
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• 2019

2족 보행로봇의 가장 중요한 해결 과제는 인간과의 유사성일 것이다. 본 논문에서 2족 보행로봇의 기구부에서는 인간과 비슷한 관절 구조로, 제어부에서는 인간과 유사한 보행 알고리즘을 구현하고 계속해서 검토해나가며 기구부와 제어부를 조절하여 결론적으로는 인간과 유사하게 걸을 수 있도록 하는 것이 최종 목표이다.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2406-2410
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• 2004

2족 보행로봇은 그 구조적인 특성상 인간 생활환경에 적용이 용이하며 바퀴형 로봇이 이동하기 어려운 환경에서도 이동이 가능하다. 그러나 2족 보행로봇은 높은 자유도와 직렬형 링크 구조로 인해 안정도 해석과 제어가 어려운 점이 있으며 이는 로봇을 제작하는데 있어 난점으로 작용한다. 본 연구에서는 로봇의 발바닥에 압력센서를 설치하여 ZMP(Zero moment point)를 측정하여 안정도를 판별하고 신경망 이론을 이용하여 보행 안정도를 개선하도록 로봇의 자세를 제어하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1247-1252
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• 2005

Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.

• 대한공업교육학회지
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• v.34 no.2
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• pp.363-378
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• 2009

The objective of the paper is to design and produce a walking robot such as humanoid robot under the given design requirements and constraints. An approach to design and produce walking robot with 2 legs was suggested. It is walking robot of 5 joints which have both of ankles, both of knee joint, and pelvis. It has 5 degrees of freedom and moves by only rotations. We review the key points before the design of the walking robot. The walking robot is consisted of 2 portions : motor and frame, control board. Final goal is to walk stably and if it detects and cognizes a special object, the walking robot avoids it and moves in other direction. The walking robot was made according to design procedures and tested by proposed algorithms. The running test was successful under given 4 modes. The findings of this research could think kinds of technologies concurrently and approach synthetically through process of design and production.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.8
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• pp.1722-1729
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• 2005

In this paper, we used the quadruped walking robot Titan-VIII in order to carry out this simulation of sway compensation trajectory. The attitude angle ${\phi}_r$ and ${\phi}_p$ is obtained from 3-D motion sensor that is attached at the center of robot body and the attitude control carried out at every 10[ms] for stable gait of robot. Duty factor, that is fixed at 0.5. When we change period T into 1.5, 2.0, 3.0[sec] each and moving distance per period is changed into 0.2, 0.3(m), we sim띠ate several walking experiment of robot. and then we analyze the experiment results if there are any difference between the imaginary ZMP and actual ZMP of robot and the stable gait of robot is realized.