• Journal of the Korean Society of Safety
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• v.27 no.3
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• pp.161-166
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• 2012

This study deals with the accident of roundabout. The objective is to analyze the traffic accidents occurred in 3-legged and 4-legged roundabouts through the developed models. In developing the multiple linear regression models, this study uses the number of traffic accidents as a dependent variable and such the variables as geometric structures, traffic characters and others as the independent variables. The correlation and multicollinearity of variables were analyzed using SPSS17.0. The main results are as follows. First, R-square value of developed models were analyzed to be 0.851(3-leg) and 0.689(4-leg), respectively. Second, the independent variables in the 3-legged roundabout accident model were analyzed to be the traffic volume and number of crosswalk, and the variables in the 4-legged roundabouts were evaluated to be the traffic volume and signal. Finally, the paired t-test shows that the predicted values and observed values are not statistically different.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.284-291
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• 2011

This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.264-269
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• 2019

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.9 no.6
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• pp.83-93
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• 2010

The roundabout is a green transportation system which reduces the accident, the congestion cost and greenhouse effect. The purpose of the study is to analyze the multi-legged roundabout's efficiency. In pursuing the above, this study gives particular attention to building the optimal network of multi-legged roundabout and intersections, developing the scenarios for analysis reflected by the proportion of entering traffic volume of main and minor roads, and comparatively analyzing the average delay per car using VISSIM. The main results are as follows. First, when the entering traffic volume are less than 3,500pcph, the 5-legged single and double-lane roundabout are all analyzed to be more effective than intersection. Second, when the entering traffic volume are less than 3,600pcph, the 6-legged single-lane roundabout is analyzed to be more effective than intersection. The 6-legged double-lane roundabout is analyzed to be more effective than intersection. The 6-legged double-lane roundabout is analyzed to be more effective than intersection in all cases of entering volume.

• The Journal of the Korea Contents Association
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• v.13 no.9
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• pp.400-409
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• 2013

In this paper, considering the characteristics of the driver at roundabouts by investigating the critical gap acceptance on various traffic conditions, multi-legged roundabouts were evaluated. The gap acceptance and rejection of 4-legged, 5-legged, 6-legged, and 7-legged roundabout were surveyed on real fields, and the critical gap acceptance was estimated using Raff's methods. Derived the critical gap acceptance was processed calibration and validation for micro-simulation, and then multi-legged roundabouts under variable conditions such as variations of traffic volume, turning ratio, and size of inscribed circle diameter were evaluated to verify operating conditions of roundabouts. As the results, according to the operating traffic volume and turning ratio, the inscribed circle diameters were proposed at each level of service. These inscribed circle diameters were able to reflect the guideline of geometric design for multi-legged roundabouts.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.943-951
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• 2003

A strategy for fault-tolerant gaits of autonomous legged robots is proposed. A legged robot is considered to be fault tolerant with respect to a given failure if it is guaranteed to be capable of walking maintaining its static stability after the occurrence of the failure. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but legged robots have fault tolerance capability to continue static walking. An algorithm for generating fault-tolerant gaits is described and, especially, periodic gaits are presented for forward walking of a hexapod robot with a locked joint failure. The leg sequence and the formula of the stride length are analytically driven based on gait study and robot kinematics. The transition procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1928-1933
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• 2005

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity behaves like mass with spring & damping in vertical direction on contact regime.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.469-472
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• 2016

Jansen Mechanism has been a constant popularity by researchers studying legged robots because of many benefits. This paper proposed the design process of optimized legged robots using Jansen Mechanism and m.Sketch(Jansen Mechanism simulation software). First, driving part of legged robots is designed in compliance with the design regulations of a competitive exhibition. Second, setting the length of link and position of joint is conducted in keeping with the constraints. Third, Ground Length (GL) and Ground Angle Coefficient(GAC) values are extracted by m.Sketch simulation. Finally, by repeating the previous procedures, comparing the GL and GAC values, find the optimum input values. This.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1440-1443
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• 2004

Most previous robots had used the wheels as means for movement. These structures were relatively simple and easy to control and this is why the method had been used until currently. However, there are many realistic problems to move from one place to another in human life, for instance, steps and edges. So we need to develop the two-legged walking humanoid robot. The 2-legged walking Robot system has been vigorously developed in so many corporations and academic circles of several countries. However, 2-legged walking Robot has been mostly studied in view of the static walk. We design a stable humanoid Robot which can walk in high-speed through the research of the dynamic walk in this paper. Especially, worldwide companies have been interested in developing humanoid robots for a long time to solve the before mentioned problems so that they can become more familiar with the human form. The most important thing, for the novel two-legged walk, is to create a stable and fast walking in two-legged robots. For realization of this movement, an optimal mechanical design of 12 DOFS, a distributed control and a parallel processing control are implemented in this paper. This paper proves that high speed and stable walking can be achieved, through experiments.