• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.573-579
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• 2008

This paper introduces a new approach to develop a fast gait for quadruped robot using GP(genetic programming). Planning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Several recent approaches have focused on using GA(genetic algorithm) to generate gait automatically and shown significant improvement over previous results. Most of current GA based approaches used pre-selected parameters, but it is difficult to select the appropriate parameters for the optimization of gait. To overcome these problems, we proposed an efficient approach which optimizes joint angle trajectories using genetic programming. Our GP based method has obtained much better results than GA based approaches for experiments of Sony AIBO ERS-7 in Webots environment.

• Journal of Multimedia Information System
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• v.8 no.2
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.5
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• pp.603-609
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• 2010

This paper introduces an objects recognition algorithm based on SURF(Speeded Up Robust Features) and GP(Genetic Programming) based gaits generation. Combining both methods, a recognition based intelligent walking for quadruped robots is proposed. The gait of quadruped robots is generated by means of symbolic regression for each joint trajectories using GP. A position and size of target object are recognized by SURF which enables high speed feature extraction, and then the distance to the object is calculated. Experiments for objects recognition and autonomous walking for quadruped robots are executed for ODE based Webots simulation and real robot.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.6
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• pp.749-754
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• 2009

Two gait generation methods using GP(genetic programming) and CPG(Central Pattern Generator) are compared to develop a fast locomotion for quadruped robot. GP based technique is an effective way to generate few joint trajectories instead of the locus of paw positions and lots of stance parameters. The CPGs are neural circuits that generate oscillatory output from a input coming from the brain. Optimization for two proposed methods are executed and analysed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are experimented in real quadruped robot and performances and motion features of GP and CPG based methods are investigated.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.3
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• pp.389-394
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• 2014

Two evolutionary gait generation methods for Cartesian and Joint coordinates space are compared to develop a fast locomotion for quadruped robots. GA(Genetic Algorithm) based approaches seek to optimize a pre-selected set of parameters for the locus of paw and initial position in cartesian coordinates space. GP(Genetic Programming) based technique generate few joint trajectories using symbolic regression in joint coordinates space as a form of polynomials. Optimization for two proposed methods are executed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are analysed in terms of different coordinate spaces.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.248-250
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• 2008

본 논문은 GP(Genetic Programming)을 이용한 4족 보행 로봇의 새로운 걸음새 생성 방식에 대해 소개한다. 4족 보행로봇의 걸음새 생성문제는 다양한 파라미터를 통시에 최적화해야 하는 매우 어려운 문제이다. 본 논문에서는 GP를 기반으로 관절좌표계에서 로봇의 관절 궤석을 직접 제어하는 방식을 사용한다. 이는 기존의 특정한 형태의 발끝의 자취를 사용하는 방법들에 비해 효율적이며 구조적으로 제한피지 않는 특징을 가진다. 또한, 새로운 트리구조기반의 GP 연산자의 적용을 통해 더 좋은 결과를 얻을수 있었다.

• PNF and Movement
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• v.19 no.2
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• pp.233-242
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• 2021

Purpose: The purpose of this study was to determine the changes in foot contact area and pressure when walking with a functional insole that emphasizes the Hallux point as compared to a general insole. Methods: In this study, an experiment was conducted to investigate changes in plantar pressure and contact area for a functional insole that emphasized the Hallux point as compared to a general insole. A lower extremity robot was used for walking reproduction. First, the gait sequence according to the two insoles was determined through a randomized controlled trial comparison. According to the sequence procedure, the insole was attached to the shoe and then worn on the right side of the lower extremity robot for gait reproduction at a normal gait speed of 20 steps per minute. After programming the robot to walk, the experiment was carried out. The result value was determined by averaging the pressure and area data of the fore and rear foot measures after walking at 20 steps per minute. Results: The functional insole that emphasized the hallux point significantly increased the forefoot and rearfoot contact area (p < 0.05) and significantly decreased the forefoot and rearfoot contact pressure (p < 0.05) compared to the general insole. Conclusion: A functional insole that emphasizes the hallux point does not collapse the medial longitudinal arch during gait, increasing foot stability and reducing fatigue. Thus, this functional insole needs to be widely used clinically.

• Journal of Information Processing Systems
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• v.14 no.5
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• pp.1114-1135
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• 2018

A multiple classification system based on a new boosting technique has been approached utilizing different biometric traits, that is, color face, iris and eye along with fingerprints of right and left hands, handwriting, palm-print, gait (silhouettes) and wrist-vein for person authentication. The images of different biometric traits were taken from different standard databases such as FEI, UTIRIS, CASIA, IAM and CIE. This system is comprised of three different super-classifiers to individually perform person identification. The individual classifiers corresponding to each super-classifier in their turn identify different biometric features and their conclusions are integrated together in their respective super-classifiers. The decisions from individual super-classifiers are integrated together through a mega-super-classifier to perform the final conclusion using programming based boosting. The mega-super-classifier system using different super-classifiers in a compact form is more reliable than single classifier or even single super-classifier system. The system has been evaluated with accuracy, precision, recall and F-score metrics through holdout method and confusion matrix for each of the single classifiers, super-classifiers and finally the mega-super-classifier. The different performance evaluations are appreciable. Also the learning and the recognition time is fairly reasonable. Thereby making the system is efficient and effective.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.151-152
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• 2009

본 논문에서는 진화연산 기법중 GP(Genetic Programming)를 이용한 관절좌표계 상에서의 걸음새 자동생성 기법과 생물체의 신경발생 신호 원리를 이용한 CPG(Central Pattern Generator) 기법을 구현한다. 바이올로이드로 구성된 4족 보행로봇에 대하여 Webots기반의 ODE 시뮬레이션을 통해 접근 기법들에 대한 최적화를 수행하고 결과를 비교 분석한다. 그리고 구해진 시뮬레이션과 결과를 실제 로봇에 대해서 각 동작을 실행시켜 보면서 CPG와 GP 기반 걸음새 방식 실제적인 성능 및 특성도 고찰한다.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.23-38
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• 2003

The purpose of this study is to develop an improved marker auto-identification algorithm for reduce of data processing time through improve the efficiency of noise elimination and marker separation. The maker auto-identification algorithm was programming named KUMAS used Delphi language. For the study, various experiments were conducted for the verification of KUMAS. and compared two systems of established with the KUMAS. Four different motions - cycling, gait, rotation, and pendulum -, were selected and tested. Motions were filmed 30Hz frames rate per second. ${\chi}^2$ used for statistical analysis. Significant level were ${\alpha}=.05$. The test results were as follow. 1. Increased the success ratio of marker auto-identification. 2. The efficiency of marker auto-identification was remarkably improved through marker separation, noise elimination. 3. The marker auto-identification ability was improved in 2D-image plane include the 3D motion. 4. Significant different were found between KUMAS and B-SYS(established system) with non-input the artificial noise frames, input the artificial noise frames and total frames.