• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• v.9 no.2
• /
• pp.204-207
• /
• 2005

Until present, most studies about energy efficiency of quadruped walking robot are mathematical modelings, dynamic analysis or simulation consumption energy per period by basic efficiency evaluate in this paper, a quadruped walking robot Titan-VIII is used for walking experience. The total moving length is about 2[m]. The stride length is 0.1, 0.2, 0.3, walking period is changed by 1.0, 1.5, 2.0, 3.0[sec] per each stride length. So consumption energy of 12 cases are measured. The energy efficiency of quadruped walking robot was analyzed by data that is saved by an experiment.

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

• KIPS Transactions on Software and Data Engineering
• /
• v.12 no.5
• /
• pp.237-242
• /
• 2023

Research on high-performance walking robots is being actively conducted, and quadruped walking robots are receiving a lot of attention due to their excellent mobility and adaptability on uneven terrain, but they are difficult to introduce and utilize due to high cost. In this paper, to increase utilization by applying intelligent functions to a low-cost quadruped robot, we present a method of improving uneven terrain overcoming ability by mounting IMU and reinforcement learning on embedded board and automatically detecting objects using camera and deep learning. The robot consists of the legs of a quadruped mammal, and each leg has three degrees of freedom. We train complex terrain in simulation environments with designed 3D model and apply it to real robot. Through the application of this research method, it was confirmed that there was no significant difference in walking ability between flat and non-flat terrain, and the behavior of performing person detection in real time under limited experimental conditions was confirmed.

• Korean Journal of Applied Biomechanics
• /
• v.18 no.4
• /
• pp.59-65
• /
• 2008

The purpose of this study was to investigate the shift of COP pathway and the plantar foot pressure among level walking and stairs and ramp climbing in young and elderly people. Plantar foot pressure was measured by MatScan system(Tekscan, USA). Statistical analysis was used One-way ANOVA to know the characteristics of peak plantar pressure during walking with different the facilities. In young adults, COP pathway during stairs climbing was slightly shorten and trended to abduct at forefoot. COP pathway during ramp climbing was also shorten but trend to adduct at forefoot. Peak plantar pressure of 2-3 metatarsal head and heel during ramp climbing was more decreased than level walking. In elderly people, COP pathway during stairs climbing was more shorten and abducted than leve walking and COP pathway during ramp climbing was more unstable than level walking. Peak plantar pressure of first metatarsal head increased at stair climbing and decreased at ramp climbing. That of second metatarsal head and heel was more decreased at ramp climbing. Conclusionally, Peak plantar pressures of each foot region generally increased and more changed during ramp climbing.

• 전자공학회논문지 IE
• /
• v.43 no.4
• /
• pp.52-59
• /
• 2006

Walking robot is able to move in regular or irregular terrain. It can walk that change adaptive algorithms according to the terrain. Existing papers about adaptive gaits of blind robot are based on intelligent foothold selection. However, this paper proposes a algerian that is based on the variations of stroke and period to adapt the irregular terrain. If thus adaptive algorithms is used, robot can maintain periodic gait walking and constant speed using only force sensor even in the irregular terrain without external sophisticated sensor. In this paper Quadruped robot with 2 DOF in each leg, is walk experiment with the wave gait in regular and irregular terrain. So the adaptive algorithm is proved useful through walk experiment.

• Proceedings of the KIEE Conference
• /
• 2008.04a
• /
• pp.248-250
• /
• 2008

본 논문은 GP(Genetic Programming)을 이용한 4족 보행 로봇의 새로운 걸음새 생성 방식에 대해 소개한다. 4족 보행로봇의 걸음새 생성문제는 다양한 파라미터를 통시에 최적화해야 하는 매우 어려운 문제이다. 본 논문에서는 GP를 기반으로 관절좌표계에서 로봇의 관절 궤석을 직접 제어하는 방식을 사용한다. 이는 기존의 특정한 형태의 발끝의 자취를 사용하는 방법들에 비해 효율적이며 구조적으로 제한피지 않는 특징을 가진다. 또한, 새로운 트리구조기반의 GP 연산자의 적용을 통해 더 좋은 결과를 얻을수 있었다.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.3
• /
• pp.305-311
• /
• 2012

In this paper, we propose a gait generation method for quadruped robots using the xz-axis sway of the quadruped robot, which minimizes the shake of the quadruped robot and maximizes the stability margin. In the proposed method, the gait is generated based on wave gaits and the stability analysis uses the body tilt information of the quadruped robot according to the leg's height of leg. In addition, to reduce the impact on the body caused by the z-axis sway while walking, the proposed method generates the smooth walking movement trajectory with less impact by using Fourier series. Finally, to verify the applicability and effectiveness of the proposed method, we carry out the computer simulations and the real walking experiments with the implemented quadruped robot.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2022.11a
• /
• pp.875-877
• /
• 2022

본 논문에서는 비평탄 지형에서 보행할 수 있는 탐사, 정찰 목적으로 설계된 12자유도 4족 보행 로봇의 구성과 주요사양을 설명하고 로봇 하드웨어의 설계 과정과 현실에서 로봇을 구동하기 전 시뮬레이션으로 로봇을 미리 구동시킨 실험결과 및 보행 안전성에 관련된 분석 결과등을 제시하고 실제로 로봇의 보행이 안정한지 확인하는 과정을 보여준다

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.16 no.6
• /
• pp.1235-1241
• /
• 2012

In this paper, each driving motor for leg joints on a robot is controlled by estimating the direction of the legs measuring each joint angle and attitude angle of robot. We used quadruped working robot named TITAN-VIII in order to carry out this experimental study. 4 load cells are installed under the bottom of 4 legs to measure the pressed force on each leg while it's walking. The walking experiments of the robot were performed in 8 different conditions combined with duty factor, the length of a stride, the trajectory height of the foot and walking period of robot. The validity of attitude control for quadruped walking robot is evaluated by comparing the pressed force on a leg and the power consumption of joint driving motor. As a result, it was confirmed that the slip-condition of which the foot leave the ground late at the beginning of new period of the robot during walking process, which means the attitude control of the robot during walking process wasn't perfect only by measuring joint and attitude angle for estimating the direction of the foot.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2022.05a
• /
• pp.298-300
• /
• 2022

4족 보행 로봇의 보행을 이해하기 위하여 역기구학 분석은 필수적인 요소이다. 본 논문에서는 각 다리가 3개의 자유도를 갖는 보행 로봇에 대한 역기구학을 직관적인 방법으로 해석하여 제공한다. 또한 다리의 끝단에 대응하는 관절 각도를 계산하는 프로그램을 개발하였으며 관련된 입출력 값들의 관계를 그래프 형태로 확인하였다.