• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.3
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• pp.163-169
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• 2008

In this paper, we propose a real-time people tracking system with multiple CCD cameras for security inside the building. The camera is mounted from the ceiling of the laboratory so that the image data of the passing people are fully overlapped. The implemented system recognizes people movement along various directions. To track people even when their images are partially overlapped, the proposed system estimates and tracks a bounding box enclosing each person in the tracking region. The approximated convex hull of each individual in the tracking area is obtained to provide more accurate tracking information. To achieve this goal, we propose a method for 3D walking human tracking based on the IMPRESARIO framework incorporating cascaded classifiers into hypothesis evaluation. The efficiency of adaptive selection of cascaded classifiers have been also presented. We have shown the improvement of reliability for likelihood calculation by using cascaded classifiers. Experimental results show that the proposed method can smoothly and effectively detect and track walking humans through environments such as dense forests.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• 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 the Korea Academia-Industrial cooperation Society
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• v.10 no.4
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• pp.722-727
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• 2009

The technology of distinguishing human motion states is required in the areas of measuring and analyzing biosignals changing according to physical activities, diagnosing sleep disorder, screening the effect of treatment, examining chronic patients' kinetic state, prescribing exercise therapy, etc. The present study implemented a fuzzy inference system based on fuzzy rules that distinguish human motion states (tying, sitting, walking, and running) by acquiring and processing data of LAA, TAA, L-MAD, and T-MAD using ADXL202AE of Analog Devices embedded in an armband. The membership degree and fuzzy rules in each area of input (LAA, TAA, L-MAD, and T-MAD) and output (tying, sitting, walking, and running) data used here were determined using numeric data obtained from experiment. In the results of analyzing data for simulation generated in order of tying$\rightarrow$walking$\rightarrow$running$\rightarrow$tying, the sorting rate for motion states tying, sitting, walking, and running was 100% for each motion.

• Structural Engineering and Mechanics
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• v.65 no.3
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• pp.349-357
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• 2018

An extensive research was undertaken to study the vibration serviceability of a long-span and light-weight floor subjected to human loading experimentally and numerically. Specifically, heel-drop test was first conducted to capture the floor's natural frequencies and damping ratios, followed by jumping and running tests to obtain the acceleration responses. In addition, numerical simulations considering walking excitation were performed to further evaluate the vibration performance of a multi-panel floor under different loading cases and walking rates. The floor is found to have a high frequency (11.67 Hz) and a low damping ratio (2.32%). The comparison of the test results with the published data from the 1997 AISC Design Guide 11 indicates that the floor exhibits satisfactory vibration perceptibility overall. The study results show that the peak acceleration is affected by the walking path, walking rate, and adjacent structure. A simpler loading case may be considered in design in place of a more complex one.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.7
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• pp.79-86
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• 2008

This paper describes the development of wearing intelligent shoe system to measure applied forces and moments (ground reaction forces and moments) on the soles of feet during human walking. In order to walk safely, robot must get the intelligent feet with 6-axis force/moment sensors (Fx sensor (x-direction force sensor), Fy sensor, Fz sensor, Mx sensor (Mx : x-direction moment sensor), My sensor, and Mz sensor) and detect the forces and moments data from the sensors. And the feet must be controlled with the data and controllers. While a human is walking, the forces and moments should be measured and analyzed for robot's intelligent feet. Therefore, the wearing intelligent shoe system should be developed. In this paper, four 6-axis farce/moment sensors and two high speed measuring devices were designed and fabricated, and the wearing intelligent shoe system was made using these. The characteristic tests of the wearing intelligent shoe system were performed, and the forces and moments were detected using it.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.97-104
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• 2019

Objective: The aim of this study was to investigate the strategies for avoiding moving and stationary walker using body segments during walking. Method: Ten healthy young adults (10 males, age: $24.40{\pm}0.49yrs$, height: $175.80{\pm}5.22cm$, body mass: $70.30{\pm}5.22kg$) participated in this study. Each participant was asked to perform a task to avoid collisions with another walker who was moving or stationary during walking on the 10 m walkway. Both walkers were performed at natural self-selected walking speed. Results: Medio-lateral avoidance displacement of the trunk and the pelvis were significantly increased when avoiding a stationary walker (p<.05). There were no significant differences in medio-lateral center of mass trajectory. Rotation angle of trunk, pelvis and foot on the vertical axis were significantly increased when avoiding a stationary walker (p<.05). Conclusion: Based on our results, when another walker moves continuously, the walker recognizes another walker as the object of social interaction and performs the avoidance strategies while expecting the cooperative distance. On the other hand, when another walker is stopped, it is determined that the walker has an obligation to avoid, and the walker performs a relatively safer avoidance strategy.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.446-449
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• 2002

Quadruped walking robot requires dynamic control to keep its stability in high speed walking. To keep its walking stability by control of only legs' Joint angle lowers energy efficiency. It is known that an animal or a human use the moving of the mass center of one's upper body to keep the stability. We have developed a quadruped walking robot with weight balancing oscillator that have high energy efficiency. In this study, walking tests are performed for the robot to verify the validity of the weight balancing oscillator.

• Journal of IKEEE
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• v.24 no.1
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• pp.269-274
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• 2020

This paper is to study the exoskeleton robot for the walking of the elderly and the disabled. We developed and tested an Exoskeletal robot with two axes of freedom for joint motion. The EEG and EMG signals were used to move the joints of the Exoskeletal robot. By analyzing the EMG signal, the control signal was extracted and applied to the robot to facilitate the walking operation of the walking assistance robot. In addition, the brain-computer interface technology is applied to perform the operation of the robot using brain waves, spontaneous electrical activities recorded on the human scalp. These two signals were fused to study the walking recognition method of the supporting robot leg.

• Structural Engineering and Mechanics
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• v.71 no.3
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• pp.245-255
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• 2019

In this paper, an inverted-pendulum model consisting of a point supported by spring limbs with roller feet is adopted to simulate human walking load. To establish the kinematic motion of first and second single and double support phases, the Lagrangian variation method was used. Given a set of model parameters, desired walking speed and initial states, the Newmark-${\beta}$ method was used to solve the above kinematic motion for studying the effects of roller radius, stiffness, impact angle, walking speed, and step length on the ground reaction force, energy transfer, and height of center of mass transfer. The numerical simulation results show that the inverted-pendulum model for walking is conservative as there is no change in total energy and the duration time of double support phase is 50-70% of total time. Based on the numerical analysis, a dynamic load factor ${\alpha}_{wi}$ is proposed for the traditional walking load model.