• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.752-759
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• 2002

This paper presented a design and a control of a biped walking RGO and walking simulation by this system. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO type with 12-servo motors. The vibration evaluation of the dynamic PLS on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. The gait of a biped walking RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by a ZMP (Zero Moment Point) of the biped walking RGO. It was designed according to a human wear type and was able to accomodate itself to a human environments. The joints of each leg were adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to recover effectively with a biped walking RGO.

• Journal of International Academy of Physical Therapy Research
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• v.4 no.2
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• pp.566-572
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• 2013

This study aims to compared effect of balance between general walking exercise and power walking exercise. Twenty subjects were classified into two groups, general walking exercise(n=10) and power walking exercise(n=10). As a result, two group showed difference within the group and there is significant difference between two groups. 1) In compared static balance of sway area at pre-post test to exercise group, general walking exercise group did not change significantly. however, power walking exercise group did change significantly. and At sway distance, two group showed significant changes. 2) In compared Static balance between the groups sway area and sway path at pre-post test, two group showed significant changes. 3) In compared dynamic balance of center distance at pre-post test to exercise group, general walking exercise group was no significant difference in all directions. power walking exercise group was significant difference in all directions. 4) In compared dynamic balance between the groups sway area and sway path at pre-post test, there was no significant difference in leftward, rightward, forward directions and was significant difference in backward, overall direction. Therefore, power walking exercise can be recommended promote balance.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.138-140
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• 2004

This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.6
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.536-539
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• 1997

This paper presents a three dimensional modeling and a trajectory generation for minimized impact walking of the biped robot. Inverse dynamic analysis and forward dynamic analysis are performed considering impact force between the foot and ground for determining the actuator capacity and for simulating the proposed biped walking robot. Double support phase walking is considered for close to human's with adding the kinematic constraints on the one of the single support phase.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.751-758
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• 2016

The modifiable walking pattern generation (MWPG) algorithm can handle dynamic walking commands by changing the walking period, step length, and direction independently. When an infeasible command is given, the algorithm changes the command to a feasible one. After the feasibility of the navigational command is checked, it is translated into the desired center of mass (CM) state. To achieve the desired CM state, a reference CM trajectory is generated using predefined zero moment point (ZMP) functions. Based on the proposed algorithm, various complex walking patterns were generated, including backward and sideways walking. The effectiveness of the patterns was verified in dynamic simulations using the Webots simulator.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.756-768
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• 1997

In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.359-363
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• 2004

Numerous studies have been performed to analyze various phenomena of human's walking, gait. In the present study, unrecognized walking and recognized walking were analyzed by three dimensional motion capture system(VICON motion system Ltd., England) and simulated by computer program. Two normal males participated in measuring the motion of unrecognized and recognized walking. Six infrared cameras and four force plates were used and sixteen reflective markers were attached to the subject to capture the motion. A musculoskeletal model was generated anatomically by using ADAMS(MSC software corp., USA) and LifeMOD(Biomechanics Research Group Inc, USA). The inverse dynamic simulation and forward dynamic simulation were also performed. The result of simulation was similar to the experimental result. This study provides the base line for dynamic simulation of the falling walking. It will be useful to simulate various another pathologic gaits for old peoples.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.10a
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• pp.459-466
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• 2001

The floor vibration aspect for building structures which are in need of large open space are influenced by the interrelation between natural frequency and working loads. Structures with a long span and low natural frequency have a higher possibility of experiencing excessive vibration induced by dynamic excitation such as human activities. These excessive vibrations make the residents uncomfortable and the serviceability deterioration. Need formulation of loads data through actual measurement to apply walking loads that is form of dynamic load in structure analysis. The loads induced by human activities were classified into two types. First type is in place loads. the other type is moving loads. A series of laboratories experiments had been conducted to study the dynamic loads induced by human activities. The earlier works were mainly concerned to parameters study of dynamic loads. In this Paper, the walking loads have been directly measured by using the measuring plate in which two load cells were placed, the parameters, the load-time history of walking loads, and the dynamic load factors have been analyzed. Moreover, the shape of the harmonic loads which were gotten by decomposition the walking loads have been analyzed , and the walking loads modeling have been carried out by composition these harmonic loads derived by functional relation.