• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.131-136
• /
• 1988

In this paper we describe a motion control algorithm for a 4-legged robot over slopped terrain and steps. The new concept of the mechanically constrained angle has been introduced and the algorithm has been developed based on the relationship between the gait stability margin and the slope angle. The result then has been extended to the case where the robot walks over steps.

• Physical Therapy Korea
• /
• v.19 no.1
• /
• pp.1-9
• /
• 2012

The purpose of this study was to investigate the kinematic and kinetic changes that may occur in the pelvic and spine regions during cross-legged sitting postures. Experiments were performed on sixteen healthy subjects. Data were collected while the subject sat in 4 different sitting postures for 5 seconds: uncrossed sitting with both feet on the floor (Posture A), sitting while placing his right knee on the left knee (Posture B), sitting by placing right ankle on left knee (Posture C), and sitting by placing right ankle over the left ankle (Posture D). The order of the sitting posture was random. The sagittal plane angles (pelvic tilt, lumbar A-P curve, thoracic A-P curve) and the frontal plane angles (pelvic obliquity, lumber lateral curves, thoracic lateral curves) were obtained using VICON system with 6 cameras and analyzed with Nexus software. The pressure on each buttock was measured using Tekscan. Repeated one-way analysis of variance (ANOVA) was used to compare the angle and pressure across the four postures. The Bonferroni's post hoc test was used to determine the differences between upright trunk sitting and cross-legged postures. In sagittal plane, cross-legged sitting postures showed significantly greater kyphotic curves in lumbar and thoracic spine when compared uncrossed sitting posture. Also, pelvic posterior tilting was greater in cross-legged postures. In frontal plane, only height of the right pelvic was significantly higher in Posture B than in Posture A. Finally, in Posture B, the pressure on the right buttock area was greater than Posture A and, in Posture C, the pressure on the left buttock area was greater than Posture A. However, all dependent variables in both planes did not demonstrate any significant difference among the three cross-legged postures (p>.05). The findings suggest that asymmetric changes in the pelvic and spine region secondary to the prolonged cross-legged sitting postures may cause lower back pain and deformities in the spine structures.

• International Journal of Highway Engineering
• /
• v.14 no.2
• /
• pp.83-91
• /
• 2012

This study deals with the operational efficiency of roundabout. The roundabouts generally have such the merits as high capacity, delay reduction, safety improvement, and others. Circular intersection can be divided into the rotary and roundabout according to travelling priority. The objective of this study is to comparatively analyze the operational efficiency of rotary and roundabout by scenario. In pursuing the above, this study gives the particular attentions to developing 256 scenarios according to the directional and entering traffic volume and analyzing the delay using VISSIM. The main results are as follows. First, the average delay of rotary was analyzed to be 1.56-8.74 times of roundabout. Second, the operational efficiencies of rotary and roundabout were analyzed to be better in the case of bigger differences in the traffic volumes between the main and minor roads. Third, the average delay of the 4-legged was evaluated to be 1.77-11.70 times of 3-legged intersection. Finally, 2-lane intersection (3-legged & 4-legged) was analyzed to be 2.02-2.23 times of 1-lane intersection.

• Journal of Korean Society of Transportation
• /
• v.25 no.5
• /
• pp.67-77
• /
• 2007

This study deals with the traffic accidents at the unsignalized intersections in Cheongju. The purpose is to analyze the characters and the relations between road environmental factors and traffic accidents. The correlation analyses among the above factors show that the accidents are strongly related to traffic volumes and sight distances in 3-legged, and the cross angles, maximum vertical grades and sight distances in 4-legged unsignalized intersections. Also the multiple linear and nonlinear regression analyses represent that the accidents in the 3-legged increase as the traffic volume and the number of double stop-lines increase, and that the accidents in the 4-legged increase as the cross angle approaches to the 90 degree and decrease as the maximum vertical grade increases. It could be expected that this results give the good implications to the future intersection improvement projects in Cheongju.

• International Journal of Highway Engineering
• /
• v.17 no.6
• /
• pp.65-73
• /
• 2015

PURPOSES : This study tries to develop the accident models of 4-legged signalized intersections in Busan Metropolitan city with random parameter in count model to understanding the factors mainly influencing on accident frequencies. METHODS : To develop the traffic accidents modeling, this study uses RP(random parameter) negative binomial model which enables to take account of heterogeneity in data. By using RP model, each intersection's specific geometry characteristics were considered. RESULTS : By comparing the both FP(fixed parameter) and RP modeling, it was confirmed the RP model has a little higher explanation power than the FP model. Out of 17 statistically significant variables, 4 variables including traffic volumes on minor roads, pedestrian crossing on major roads, and distance of pedestrian crossing on major/minor roads are derived as having random parameters. In addition, the marginal effect and elasticity of variables are analyzed to understand the variables'impact on the likelihood of accident occurrences. CONCLUSIONS : This study shows that the uses of RP is better fitted to the accident data since each observations'specific characteristics could be considered. Thus, the methods which could consider the heterogeneity of data is recommended to analyze the relationship between accidents and affecting factors(for example, traffic safety facilities or geometrics in signalized 4-legged intersections).

• International Journal of Highway Engineering
• /
• v.16 no.2
• /
• pp.119-129
• /
• 2014

PURPOSES : The purpose of this study is to develop the U-turn accident model at 4-legged signalized intersections in urban areas. METHODS : In order to analyze the characteristics of the accidents which are associated with U-turn operation at 4-legged signalized intersections in urban areas and develop an U-turn accident model by regression analysis, the tests of overdispersion and zero-inflation are conducted about the dependent variables of number of accidents and EPDO (Equivalent Property Damage Only). RESULTS : As their results, the Poisson model fits best for number of accident and the ZIP (Zero Inflated Poisson) fits best for EPOD, the variables of conflict traffic, width of opposing road, traffic passing speed are adopted as independent variable for both models. The variables of number of bus berths and rate of U-turn signal time at which the U-turn is permitted are adopted as independent variable only for EPDO. CONCLUSIONS : These study results suggest that U-turn would be permitted at the intersection where the width of opposing road is wider than 11.9 meters, the passing vehicle speed is not high and U-turn operation is not hindered by the buses stopping at bus stops.

• Physical Therapy Korea
• /
• v.15 no.4
• /
• pp.80-86
• /
• 2008

Cross-legged sitting postures are commonly assumed during computer work. The purpose of this study was to determine the effects of leg crossing on trunk muscle activity while typing at a computer. Trunk muscle activity was measured in three 8 different sitting postures, in random order. These posture were: normal sitting with a straight trunk and both feet on the floor (NS), upper leg crossing (ULC), and ankle on knee (AOK). The right leg was crossed onto the left leg in both cross-legged postures. Twenty able-bodied male volunteers participated in this study. Subjects typed on a computer keyboard for one minute. Surface electromyography (EMG) was used to record bilateral muscle activity in the external oblique (EO). internal oblique (IO), and rectus abdominis (RA). The EMG activity of each muscle in the NS posture was used as a reference (100% EMG activity) in relation to the two cross-legged postures. Muscle activity in the right EO. right IO, and left IO was significantly lower in the ULC posture than in the NS posture. In contrast, muscle activity in the right RA was significantly higher in the ULC posture than in the NS posture. Muscle activity in the tight RA was significantly higher in the AOK posture, as compared to the NS posture, whereas activity in the left IO was significantly lower in the AOK posture, as compared to the NS posture. The right-left muscle activity ratios in the EO and IO showed significantly different patterns in the cross-legged postures, suggesting that asymmetrical right-left oblique muscle activity had occurred.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.3
• /
• pp.304-309
• /
• 2014

In this paper, we design a hybrid wheeled and legged mobile robot with a waist joint. The proposed hybrid mobile robot is designed to have a hybrid structure with leg and wheel for the efficient movement in flat and uneven surfaces. The proposed robot have a waist joint that is used to stably transform from wheeled driving to legged walking of the robot and to overcome non-flat surface. In order to recognize various environments we use LRF sensor, PSD sensor, CCD camera. Also, a motion planning method for hybrid mobile robot with a waist joint is proposed to select wheeled driving motion and legged walking motion of the robot based the environment types. We verify the efficient mobility of the developed hybrid mobile robot through navigation experiments using the proposed motion planning method in various environments.

• Proceeding of EDISON Challenge
• /
• 2016.03a
• /
• pp.493-497
• /
• 2016

Walking mechanism, there are many types. Prior to the modeling and design, we thought about a variety of mechanisms based on the Janssen mechanism to design a walking mechanism optimized for walking. The more the legs increases the stability of the structure, while the weight is heavy and if that advantage had the disadvantage, the legs are easier to walk in the utilization and structural aspects of the torque had fewer advantages. The disadvantage is that the instability mechanism, four-legged, but improve it and look forward to the idea of utilization and cost-effectiveness, its future utilization will be endless. To study this, we utilized a variety of software, such as m-sketch, Edison design program, we have seen the actual production through scientific experiments box.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.2
• /
• pp.159-164
• /
• 2011

In this study, a crab robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism, and its kinematics is analysed. A vision camera is attached to the mechanism, which makes the proposed robot a kind of biologically inspired robot for image acquisition. Three ultrasonic sensors are adopted for obstacle avoidance. In addition, the biologically inspired robot can achieve the mission appointed by a programmer outside, based on RF and Blue-tooth communication module. For the design and implementation of a crab robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.