• Journal of the Korean Society of Safety
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• v.27 no.3
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• pp.161-166
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• 2012

This study deals with the accident of roundabout. The objective is to analyze the traffic accidents occurred in 3-legged and 4-legged roundabouts through the developed models. In developing the multiple linear regression models, this study uses the number of traffic accidents as a dependent variable and such the variables as geometric structures, traffic characters and others as the independent variables. The correlation and multicollinearity of variables were analyzed using SPSS17.0. The main results are as follows. First, R-square value of developed models were analyzed to be 0.851(3-leg) and 0.689(4-leg), respectively. Second, the independent variables in the 3-legged roundabout accident model were analyzed to be the traffic volume and number of crosswalk, and the variables in the 4-legged roundabouts were evaluated to be the traffic volume and signal. Finally, the paired t-test shows that the predicted values and observed values are not statistically different.

• The Journal of Korea Robotics Society
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• v.14 no.4
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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.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.132-137
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• 2011

The walking mobility with stability of 4 legged robots is the distinguished skills for many application areas. Planning gaits of efficient walking for quadruped robots is an important and challenging task. Especially, autonomous generation of locomotion is required to manage various robot models and environments. In this paper, we propose an adaptive locomotion control of 4 legged robot for irregular terrain using HyperNEAT. Generated locomotion is executed and analysed using ODE based Webots simulation for the 4 legged robot which is built by Bioloid.

• The Journal of the Korea Contents Association
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• v.13 no.9
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• pp.400-409
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• 2013

In this paper, considering the characteristics of the driver at roundabouts by investigating the critical gap acceptance on various traffic conditions, multi-legged roundabouts were evaluated. The gap acceptance and rejection of 4-legged, 5-legged, 6-legged, and 7-legged roundabout were surveyed on real fields, and the critical gap acceptance was estimated using Raff's methods. Derived the critical gap acceptance was processed calibration and validation for micro-simulation, and then multi-legged roundabouts under variable conditions such as variations of traffic volume, turning ratio, and size of inscribed circle diameter were evaluated to verify operating conditions of roundabouts. As the results, according to the operating traffic volume and turning ratio, the inscribed circle diameters were proposed at each level of service. These inscribed circle diameters were able to reflect the guideline of geometric design for multi-legged roundabouts.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.673-678
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• 2011

This paper analyzes the standing balance of four-legged robots which are useful for delivering objects or investigating of information. For this, we specify an effective model of general four-legged robots and propose a boundary condition based on the standing stability of the four-legged walking. To verify such a standing balance, we consider some exemplary free motions at the standing mode of the robot and discuss on the robot's balance margin. The analysis specified in this paper will be applicable for effective balancing control of various quadruped robotic walking.

• International Journal of Highway Engineering
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• v.15 no.3
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• pp.177-189
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• 2013

PURPOSES: This study aims to suggest a proper left-turn treatment method for the bicycle traffic flow at four-legged intersections. METHODS: Four types of crossing methods are proposed and analyzed : (1) indirect left turn, (2) direct left turn, (3) direct left turn on a Bike Box, and (4) direct left turn on bike left turn lane. The VISSIM simulation tests were conducted based on forty-eight operation scenarios prepared by varying vehicle and bicycle traffic volumes. RESULTS : The results from the four-legged signalized intersections suggest that (1) the indirect left turn is appropriate when vehicle demand is high, (2) the direct left turn is efficient on most traffic situation but the safety is a concern, (3) the direct left turn on a Bike Box is appropriate when bicycle demand is high while vehicle demand is not, and (4) the direct left turn on a bike left turn lane is appropriate when both vehicle and bicycle demand are low. CONCLUSIONS : The direct left turn of bicycle provides more efficiency than the indirect left turn at the four-legged intersections but to apply the methods and to study more, advanced evaluation methods, related law, and insurance programs are needed.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.2D
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• pp.209-215
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• 2011

Roundabout has circular traffic island in the intersection center and is kind of intersection where the automobile bypass circular traffic island. In Korea, the provisional Roundabouts Design Guidelines were published in 2004 by MLTM (Ministry of Land, Transport and Maritime Affairs). This guideline did not discussed domestic traffic circumstance. It just only introduced foreign instances and their guidelines. In addition, the recent National Competitiveness roundabouts as part of the green growth has been concentrated on the interest. In this paper, 90 degree of the 4-legged roundabout was compared with 72 degree, 45 degree, and 30 degree 5-legged roundabouts by micro simulation VISSIM. As a result of analysis, average travel time is decreased when the inscribed circle diameter become bigger the roundabout. 5-legged roundabout until 2,000 volume per hour evaluated to be similar effect at 90 degree of 4-legged roundabout.

• Physical Therapy Korea
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• v.6 no.1
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• pp.35-46
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• 1999

The purposes of this study were to evaluate and compare the limits of stability(LOS) at different body positioning(standing and one leg standing) in normal 20 years of age. Fourty subjects participated in the study. Subjects comprised 20 males and 20 females who without neurologic, orthopaedic impairments and balance performance impaired. The LOS was measured at Two Feet Forceplate and One Leg Forceplate with BPM(Balance Performance Monitor) Dataprint Software Version 5.3. The subjects stood 4 inches between the feet at Two Feet Forceplate and stood one legged at One Leg Forceplate. In this study applied the paired t-test and independent t-test to determine the statistical significance of results at 0.01 and 0.05 level of significance. The results of this study were as follows: 1) The anteroposterior LOS significantly increased with one legged stance(p<0.05). 2) The mediolateral LOS significantly decreased with one legged stance(p<0.01). 3) There were significant difference posterior LOS in standing and anterior LOS in one legged stance according to sexual difference(p<0.05). 4) The mediolateral LOS was not significant difference between standing and one legged stance according to sexual difference(p>0.05).

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.660-666
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• 2011

In this paper, we proposed a Particle Swarm Optimization(PSO) to search the optimal link lengths for legged walking robot. In order to apply the PSO algorithm for the proposed, its walking robot kinematic analysis is needed. A crab robot based on four-bar linkage mechanism and Jansen mechanism is implemented in H/W. For the performance index of PSO, the stride length of the legged walking robot is defined, based on the propose kinematic analysis. Comparative simulation results present to illustrate the viability and effectiveness of the proposed method.