• 로봇학회논문지
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• 제3권4호
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• pp.287-299
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• 2008

People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.47-51
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• 2005

Using satellite images, an optimal solution to water motion has been presented in this study. Since temperature patterns are suitable tracers in water motion, Sea Surface Temperature (SST) images of Caspian Sea taken by MODIS sensor on board Terra satellite have been used in this study. Two daily SST images with 24 hours time interval are used as input data. Computation of templates correspondence between pairs of images is crucial within motion algorithms using non-rigid body objects. Image matching methods have been applied to estimate water body motion within the two SST images. The least squares matching technique, as a flexible technique for most data matching problems, offers an optimal spatial solution for the motion estimation. The algorithm allows for simultaneous local radiometric correction and local geometrical image orientation estimation. Actually, the correspondence between the two image templates is modeled both geometrically and radiometrically. Geometric component of the model includes six geometric transformation parameters and radiometric component of the model includes two radiometric transformation parameters. Using the algorithm, the parameters are automatically corrected, optimized and assessed iteratively by the least squares algorithm. The method used in this study, has presented more efficient and robust solution compared to the traditional motion estimation schemes.

• 한국전산유체공학회지
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• 제20권2호
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• pp.103-108
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• 2015

Fluid-body interaction analysis of floating body with six degree-of-freedom motion is presented. In this study, three-dimensional incompressible Navier-Stokes equations are employed as a governing equation. The numerical method is based on a finite-volume approach on a cartesian grid together with a fractional-step method. To represent the body motion, the immersed boundary method for direct forcing is employed. In order to simulate the coupled six degree-of-freedom motion, Euler's equations based on rigid body dynamics are utilized. To represent the complex body shape, level-set based algorithm is utilized. In order to describe the free surface motion, the volume of fluid method utilizing the tangent of hyperbola for interface capturing scheme is employed. This study showed three different continuums(air, water and body) are simultaneously simulated by newly developed code. To demonstrate the applicability of the current approach, two different problems(dam-breaking with stationary obstacle and water entry) are simulated and all results are validated.

• 한국멀티미디어학회논문지
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• 제14권8호
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• pp.992-999
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• 2011

This paper proposed a human body posture recognition program based on haar-like feature and hand activity detection. Its distinguishing features are the combination of face detection and motion detection. Firstly, the program uses the haar-like feature face detection to receive the location of human face. The haar-like feature is provided with the advantages of speed. It means the less amount of calculation the haar-like feature can exclude a large number of interference, and it can discriminate human face more accurately, and achieve the face position. Then the program uses the frame subtraction to achieve the position of human body motion. This method is provided with good performance of the motion detection. Afterwards, the program recognises the human body motion by calculating the relationship of the face position with the position of human body motion contour. By the test, we know that the recognition rate of this algorithm is more than 92%. The results show that, this algorithm can achieve the result quickly, and guarantee the exactitude of the result.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1064-1069
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• 2015

Control Moment Gyro (CMG) has been used as an indirect actuator of a single-wheel robot system GYROBO, developed at Chungnam National University. The flip motion of the gimbal system produces the gyroscopic motion onto the body system while the body motion also produces the gyroscopic motion onto the gimbal system inversely. In this paper, the intuitive equation of the inverse gyroscopic effect is derived as the direct relation between the rate of the body system and the rate of the gimbal system. Experiments on the inverse gyroscopic effect under the chaotically generated disturbance are conducted. Experimental data are approximated by a linear equation using the least square method.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.244-255
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• 2019

Interest in renewable energy has been increasing in recent years for many reasons, and there have been many studies on new types of wave energy converters and mechanisms for them. However, in this paper, motion characteristics of a wave energy converter with a wave activating body type is studied with an experiment. In order to conduct the experiment, a simple wave activating body type's wave energy converter is proposed. Experimental variations consist of connection type and location. The connection type controls the rotation motions of structures, and the connection location controls the distance between structures. The movement of floating structures, such as rotation, velocity, and acceleration, is measured with a potentiometer and a motion capture camera. Using the recorded data, the motion characteristics derived from the experimental variations are investigated.

• 한국운동역학회지
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• 제15권2호
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• pp.119-127
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• 2005

The purpose of this research helps to make full use for perfect performance by grasping the defects of Ropez motion performed by athlete CSM who was under the training for the 28th 2004 Athene Olympic Garnes, and by presenting complementary methods. For the better Ropez motion which had been performed by CSM for the 1st dispatch selection test and the final for the 28th Athene Olympic Game was analyzed with 3-dimensional cinematographic method. Here are the conclusions: 1. During the board contact phase, powerful kicking and rapid forward flexion motion of upper body make increasing vertical velocity of C. O. G and enlarging body angle. 2. It was indicated that rapid forward flexion motion of upper body during the board contact phase get a large body angle in horse take-off. 3. rapid forward flexion motion of upper body during the board contact phase makes a longer time at horse contacting phase. It showed that this result increased velocity of horse take-off causing by powerful blocking motion. 4. Increasing of air-borne height during pre- flight phase, makes a higher C. O. G; and larger angle of hip, angle of knee and body angle in the landing phase. And it revealed that these results have a stable landing.

• 패션비즈니스
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• 제19권3호
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• pp.130-143
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• 2015

By studying 3-D virtual human modeling, motion-capturing and clothing simulation for easier and safer work clothes development, this research aimed (1) to categorize heavy manufacturing work motions; (2) to generate a 3-D virtual male model and establish painting work motions within a 3-D virtual clothing simulation system through computerized body scanning and motion-capturing; and finally (3) to suggest simulated clothing images of painting work clothes developed based on virtual male avatar body measurements by implementing the work motions defined in the 3-D virtual clothing simulation system. For this, a male subject's body was 3-D scanned and also directly measured. The procedures to edit a 3-D virtual model required the total body shape to be 3-D scanned into a digital format, which was revised using 3-D Studio MAX and Maya rendering tools. In addition, heavy industry workers' work motions were observed and recorded by video camera at manufacturing sites and analyzed to categorize the painting work motions. This analysis resulted in 4 categories of motions: standing, bending, kneeling and walking. Besides, each work motion category was divided into more detailed motions according to sub-work posture factors: arm angle, arm direction, elbow bending angle, waist bending angle, waist bending direction and knee bending angle. Finally, the implementation of the painting work motions within the 3-D clothing simulation system presented the virtual painting work clothes images simulated in a dynamic mode.

• 한국의류학회지
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• 제20권5호
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• pp.852-859
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• 1996

The factors and mechanism of arm surface changes were analyzed by regression analysis for the relationship between changes in arm joint angle and arm surface changes, according to the direction of upper extremity motion. Body surface change patterns among subjects were tested also. Experiments were carried out on 3 female subjects of different body types to examine 26 motions in 4 directions for 4 upper extremity parts. The major conclusions of the study are as follows: 1. The expansion or contraction of arm surface length depends on the direction of upper extremity motion. 2. Arm surface length changes by linear expansion or contraction according to the joint angle of the direction of motion. The mechanism of arm surface changes is represented by a linear relation between arm surface changes and the (actors of the direction of upper extremity motion and arm joint angle. 3. Arm surface length shows the same pattern of body surface changes regardless of body type. A quantitative model of body surface changes at upper extremity should be developed for functional sleeve design.

• ETRI Journal
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• 제37권2호
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• pp.406-416
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• 2015

Timing plays a key role in expressing the qualitative aspects of a character's motion; that is, conveying emotional state, personality, and character role, all potentially without changing spatial positions. Temporal editing of locomotion style is particularly difficult for a novice animator since observers are not well attuned to the sense of weight and energy displayed through motion timing; and the interface for adjusting timing is far less intuitive to use than that for adjusting pose. In this paper, we propose an editing system that effectively captures the timing variations in an example locomotion set and utilizes them for style transfer from one motion to another via both global and upper-body timing transfers. The global timing transfer focuses on matching the input motion to the body speed of the selected example motion, while the upper-body timing transfer propagates the sense of movement flow - succession - through the torso and arms. Our transfer process is based on key times detected from the example set and transferring the relative changes of angle rotation in the upper body joints from a timing source to an input target motion. We demonstrate that our approach is practical in an interactive application such that a set of short locomotion cycles can be applied to generate a longer sequence with continuously varied timings.