• Journal of the korean veterinary medical association
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• v.15 no.7
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• pp.415-420
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• 1979

• Proceedings of the SAREK Conference
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• 2006.11a
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• pp.79-79
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• 2006

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1787-1792
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• 2016

Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.80-80
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• 2000

The GPS can provide accurate position information on the earth. But GPS receiver can't give position information inside buildings. DR(Dead-Reckoning) or INS(Inertial Navigation System) gives position information continuously indoors as well as outdoors, because they do not depend on the external navigation information. But in general, the inertial sensors severely suffer from their drift errors, the error of these navigation system increases with time. GPS and DR sensors can be integrated together with Kalman filter to overcome these problems. In this paper, we developed a personal navigation system which can be carried by person, using GPS and electronic pedometer. The person's footstep is detected by an accelerometer installed in vertical direction and the direction of movement is sensed by gyroscope and magnetic compass. In this case the step size is varying with person and changing with circumstance, so determining step size is the problem. In order to calculate the step size of detected footstep, the neural network method is used. The teaming pattern of the neural network is determined by human walking pattern data provided by 3-axis accelerometer and gyroscope. We can calculate person's location with displacement and heading from this information. And this neural network method that calculates step size gives more improved position information better than fixed step size.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.50-53
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• 2008

본 논문에서는 복잡한 환경에서 휴머노이드 로봇의 영상기반 운동계획을 제안하였다. 먼저 영상전처리 과정을 통해 작업환경에서 경로 계획으로 최적 경로를 탐색하고, 탐색된 경로의 거리와 방향각에 따라 퍼지규칙을 적용하여 보행 프리미티브를 선택하는 운동계획방법을 제안하였다. 다양한 장애물을 갖는 복잡한 환경에서 로봇의 보행 프리미티브를 사용하여 영상기반의 운동계획이 실시간으로 수행 가능하도록 설계하였다. 제안한 운동계획방법은 임베디드 비전 시스템을 사용한 휴머노이드 로봇을 실제 제작하여 실험을 통해 성능을 검증하였다.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.5 s.98
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• pp.558-563
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• 2005

This research aims to derive the general emotion and preference of the 25 sounds by using the questionnaire method to provide the contents for the soundscape design fit to the characteristics of the given situation. The results can be summarized as follows : Nature sounds except dog barking and locust crying showed highest preference, and the traffic sounds, baby crying and footstep of upper floor showed the lowest. Hereby, the sound recognition can be different each other according to quality of tone and situation even they are the same sounds. The most impressive, wanted to be conserved and retrospective sound was the nature sound, and the most wanted to be removed sound was the machinery sound. And the social sound was shown as the most korean and fit to the art theme street.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.108-114
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• 2009

In this paper, we presents a behavior planning for humanoid robots using behavior primitive in 3 dimensional workspace. Also, we define behavior primitives that humanoid robot accomplishes various tasks effectively. Humanoid robot obtains information of the outside environment and its inner information from various sensors in complex workspace with various obstacles. We verify our approach on a developed small humanoid robot using embedded vision and sensor system in a experimental environment. The experimental results show that the humanoid robot performs its tasks fast and effectively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.806-809
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• 2004

This research aims to derive the general emotion and preference of the 25 sounds by using the questionnaire method to provide the contents for the soundscape design fit to the characteristics of the given situation. The results can be summarized as follows; Nature sounds except dog barking and locust crying showed highest preference, and the traffic sounds, baby crying and footstep of upper floor showed the lowest. Hereby, the sound recognition can be different each other according to quality of tone and situation even they are the same sounds. The most impressive, wanted to be conserved and retrospective sound was the nature sound, and the most wanted to be removed sound was the machinery sound. And the social sound was shown as the most korean and fit to the art theme street.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.1093-1099
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• 2022

The number of buildings is increasing day by day. The next logical footstep is tackling challenges regarding scarcity of resources and sustainability, as well as shifting focus on existing building structures to renovate and retrofit. Many existing old and heritage buildings lack documentation, such as building models, despite their necessity. Technological advances allow us to use virtual reality, augmented reality, and mixed reality on mobile platforms in various aspects of the construction industry. For these purposes, having a BIM model or high detail 3D model is not always necessary, as a simpler model can serve the purpose within many mobile platforms. This paper streamlines a framework for generating a lightweight 3D model for mobile platforms. In doing so, we use an existing structure's site survey data for the foundation data, followed by mobile VR implementation. This research conducted a pilot study on an existing building. The study provides a process of swiftly generating a lightweight 3D model of a building with relative accuracy and cost savings.