• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• 한국정밀공학회지
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• 제19권10호
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• pp.139-146
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• 2002

We developed a motion capture system to utilize informations on the human walking motion. The system is composed of the mechanical and electronic devices to obtain the joint angle data and the software to analyze the obtained data and to transform the data into the input for a biped walking robot. The mechanical system is composed of a pair of links with 3 revolute joints, on which potentiometers are attached on joint axes to sense rotation angles. Analog signals from potentiometers are transformed into the digital data through the low pass filter and the A/D converter, and then which are stored at the computer. We analyzed the walking characteristics by applying FFT to the digital data, and then performed a 3-D computer simulation using the data. Finally, We apply the processed data to a biped walking robot.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2132-2137
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• 2005

This paper is concerned with computer simulations of a biped robot walking in dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a kinematically ingenious design. Specific walking patterns are off-line generated meeting stability based on the ZMP condition. Subsequently, to verify whether the robot can walk as planned, a multi-body dynamics CAE code has been applied to the corresponding joint motions determined by inverse kinematics. In this manner, complex mass effects could be accurately evaluated for the robot model. As a result, key parameters to successful gaits are identified including inherent characteristics as well. Also, joint actuator capacities are found required to carry out those gaits.

• 한국지능시스템학회논문지
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• 제16권5호
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• pp.601-607
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• 2006

본 논문은 칼만필터를 이용한 ZMP의 다음 상태 예측을 통한 새로운 이족로봇의 균형제어기법을 제안한다. 일반적으로 이족로봇의 동역학 모델은 3D-LIPM(3D-Linear Inverted Pendulum Mode)에 의해 수학적으로 근사화되지만, 이는 로봇의 동역학적 특성을 완벽하게 표현할 수 없다. 이족로봇의 안정성은 ZMP(Zero Moment Point) 위치가 안정영역에 존재하는 경우에 안정성이 보장된다. 그리고 로봇 구조와 그 모델 사이의 내재된 오차는 로봇의 안정성에 영향을 끼칠 수 있다. 그러므로 본 논문에서 제안하는 균형제어기법은 내부 오차를 줄일 수 있으며, 적절한 로봇의 제어가 가능하다. 제안된 균형제어기법의 실험은 다양한 상황을 포함한 가상의 공간상에서 모의실험 되었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.169-172
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• 2002

This paper is concerned with walking trajectory generation by applying the genetic algorithm. The walking trajectory is generated though three via-points and genetic algorithm is employed to find velocity and acceleration at each via-point. Also genetic algorithm is applied for balancing joint trajectory. Fitness function is used for minimizing the trajectory. As a result, new algorithm generated the smooth trajectory. The proposed algorithm is verified by the experiment of biped walking robot developed in our Control laboratory, and we compared the result with the previous walking algorithm. It showed that the new proposed algorithm generated the better walking trajectory.

• 한국정밀공학회지
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• 제23권4호
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• 한국지능시스템학회논문지
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• 제24권5호
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• pp.477-481
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• 2014

인간은 다양한 감정을 가지고 있으며 매 시점의 감정 상태에 따라 사고와 판단, 행동이 영향을 받는다. 특히 어떤 사람의 보행하는 모습만 보아도 그 사람의 감정 상태를 짐작할 수 있을 정도로 보행 또한 감정에 영향을 받는다. 현재 휴머노이드 로봇의 이족보행에 관한 연구는 지면의 상태와 상관없이 안정하게 걷는 것을 주로 다루지만 인간과의 교감을 위해서는 감정상태에 따라 보행하는 패턴이 달라질 필요가 있다. 이를 위해 본 논문에서는 보행분석 시스템을 이용해서 네 가지 대표적인 감정(기쁨, 슬픔, 화남, 편안함) 상태에 있는 성인남녀의 보행 데이터를 취득 및 분석하고 상호 특성을 비교하는 연구를 수행했다. 본 논문에서 소개 된 정서적 보행 분석 내용은 휴머노이드 로봇의 정서적 보행에 참고 자료로 사용될 예정이다.

• 대한기계학회논문집A
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• 제30권6호
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• pp.643-652
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• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1228-1230
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• 1996

A neural network(NN) mechanism is proposed to modify the gait of a biped robot that walks on sloping surface using sensory inputs. The robot starts walking on a surface with no priori knowledge of the inclination of the surface. By accumulating experience during walking, the robot improves its walking gait and finally forms a gait that is adapted to the surface inclination. A neural controller is proposed to control the gait which has 72 reciprocally inhibited and excited neurons. PI control is used for position control, and the neurons are trained by a reinforcement learning mechanism. Experiments of static gait learning and pseudo dynamic learning are performed to show the validity of the proposed reinforcement learning mechanism.