• 로봇학회논문지
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• 제1권2호
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.95-96
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.883-884
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• 2008

• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.959-966
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• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• Nutrition Research and Practice
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• 제16권5호
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• pp.565-576
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• 2022

BACKGROUND/OBJECTIVES: Various accelerometer equations are used to predict energy expenditure (EE). On the other hand, the development of these equations and their validation studies have been conducted primarily without including older adults. This study assessed the accuracy of 8 ActiGraph accelerometer equations to predict the energy cost of walking in older adults. SUBJECTS/METHODS: Thirty-one participants with a mean age of 74.3 ± 3.3 yrs were enrolled in this study (20 men and 11 women). The participants completed 8 walking activities, including 5 treadmill and 3 self-paced walking activities. The EE was measured using a portable indirect calorimeter, with each participant simultaneously wearing the ActiGraph accelerometer. Eight ActiGraph equations were assessed for accuracy by comparing the predicted EE with indirect calorimetry results. RESULTS: All equations resulted in an overall underestimation of the EE across the activities (bias -1 to -1.8 kcal·min^-1 and -0.7 to -1.8 metabolic equivalents [METs]), as well as during treadmill-based (bias -1.5 to -2.9 kcal·min^-1 and -0.9 to -2.1 METs) and self-paced (bias -1.2 to -1.7 kcal·min-1 and -0.2 to -1.3 METs) walking. In addition, there were higher rates of activity intensity misclassifications, particularly among vigorous physical activities. CONCLUSIONS: The ActiGraph equations underestimated the EE for walking activities in older adults. In addition, these equations inaccurately classified the activities based on their intensities. The present study suggests a need to develop ActiGraph equations specific to older adults.

• 한국운동역학회지
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• 제21권2호
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• pp.253-258
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• 2011

The purpose of this study was to compare metabolic energy expenditure with the computed kinetic energy for different speeds of walking and running over the treadmill and to find the relevance for individual and group equation by performing a statistical analysis, Bland-Altman plot. Seven male subjects participated, and they were required to walk and run on the treadmill with the gas analyzer and triaxial accelerometer. Walking speeds were 3.0, 4.0, 5.0 and 6.0 km/h and running speeds were 7.0, 8.0 and 9.0 km/h respectively. Kinetic energy was calculated by the integration of acceleration data and compared with the metabolic energy measured by a gas analyzer. Correlation coefficients showed relatively good between the measured metabolic energy and the calculated kinetic energy. In addition, a dramatic increase in kinetic energy was also observed at the transition speed of walking and running, and two standard deviations in Bland-Altman plot, derived from the difference between measured and predicted values, were 1.14, 2.53, 2.93, 1.80, 2.80, 0.60 and 2.48 respectively. It was showed that there is no difference for methods of how to predict the kinetic energy expenditure for individual and group even though people had each different physical characteristic.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2339-2341
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• 1998

This paper is concerned with an energy optimization for the walking of IWR biped robot. The movement of balancing joints are determined by ZMP(Zero Moment Point) and dynamic properties caused by motion of a swing leg. Therefore, ZMP positions have an important role in walking and guarnateeing the stability of a robot. A genetic algorithm is utilized for solving this problem and finding ZMP with a minimum energy at each sampling time during the walk. In this study, we performed an energy optimization with desired ZMP trajectories and motion of balancing joints.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.307-314
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• 2006

In this paper, we present a comprehensive study for the development of quadruped walking robot. To understand the walking posture of a tetrapod animal, we begin with a careful observation on the skeletal system of tertapod animals. From taking a side view of their skeletal system, it is noted that their fore limbs and hind limbs perform characteristic roles during walking. Moreover, the widths of footprints and energy efficiency in walking have a close relationship through taking a front view of their walking posture. According to these observations, we present a control method where the kinematical solutions are not necessary because we develop a new rhythmic gait pattern for the quadruped walking robot. Though the proposed control method and rhythmic pattern are simple, they can provide the suitable motion planning for the robot since the resultant movement is based on the animal's movements. The validity of the proposed idea is demonstrated through dynamic simulations.

• 한국전문물리치료학회지
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• 제9권1호
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• pp.43-51
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• 2002

Physiological Cost Index (PCI) of walking has been widely used to predict oxygen consumption in healthy subjects or patients. The purpose of this study was to evaluate the predictability of physiological cost index of walking for the amount of exercise and cardiac function. Walking exercise was conducted in 67 healthy children (age 4-12) with a self-selected comfortable walking speed on the level surface. Walking speed was calculated, and heart rate was measured before and immediately after the walking. PCI was calculated for statistical analysis. The results were as follows; 1) The walking speed tends to increase and PCI of walking tends to decrease with age. There was significant difference in walking speed and PCI of walking among three age groups (p<.05). The change of walking heart rate tends to decrease with age, however, there was no significant difference among three age groups. 2) Linear regression equation between walking speed and age was 'Y (walking speed) = 2.124X (age) + 48.286' ($R^2$=.337), (p=.00). 3) The walking heart rate tends to decrease with age. Linear regression equation between walking heart rate and age was 'Y (walking heart rate) = 143.346 - 2.63X (age)' ($R^2$=.3425), (p=.00). 4) The walking heart rate decreased as body surface area (BSA) increased. Linear regression equation between walking heart rate and BSA was 'Y (walking heart rate) = 149.830 - 27.115X (BSA)' ($R^2$=.3066), (p=.00). In conclusion, these equations and PCI could be useful to quantify the variation of energy expenditure of children with pathological gait when compared with age-matched healthy children.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.