• Science of Emotion and Sensibility
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• v.14 no.1
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• pp.1-6
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• 2011

A perceptual reaction to human being's gaits has "regularity" that possibly obtains sympathy among people. This thesis is in the vein of the study that performs the research on the quantificational extraction of the regularity, reconstitute the result, and apply it to controlling behavior. The purpose of this thesis lies in assuring the validity of the future research by demonstrating the following hypothesis: when the physical numerical values of the gait "A" whose perceptual reaction is "a" and those of the gait "B" whose perceptual reaction is "b" are arbitrarily blended, the perceptual reaction to this blended gait also corresponds to the blend of "a" and "b", "a/b". I blended the samples of two types of gaits in the form of Bipeds using the EAM made by 3D Studio Max Script. Blending outcomes were obtained successfully for four times out of the six tries in total. It implies that without utilizing other methods such as Motion Capturing, the basic Bipeds data itself has an enough capability to generate various gaits of Bipeds. Although the present research targets only the Bipeds samples equipped with the 1Cycle moving condition of arms and legs, I acknowledge that a tool that makes blending possible under various moving conditions is necessary for a completed system.

• Advances in robotics research
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• v.2 no.2
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• Science of Emotion and Sensibility
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• v.12 no.3
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• pp.259-266
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• 2009

Today, the 3D character animation is easily accessible from most of the film such as an actuality film, animation, games, or advertising. However, such a smooth movement of characters is a result obtained by Key Frame operation which skilled animators worked with data obtained through expensive equipment such Motion Capture for a long time. Therefore, to modify or to give other effects is not easy. In some cases, character's action made according to the personal feeling could be different with universal expectations of audiences, because it might be not appropriate to make regulations generalized between character's action by animater's design and emotional reaction of audience. In this research, it is aimed to show the way which is easily to blend and modify 2-3 Biped animation data by offering the operation tools of 3-D rotation using 3D Studio MAX Script. By this tool E.A.M., we can have various researches for quantities relation of between walking and emotional reaction.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.175-182
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• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.