• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.112-121
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• 2005

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.4
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• pp.797-808
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• 2001

Three-dimensional trajectory of fluid particle is simulated by a particle motion, which is able to examine the influences of changes in the several parameters. To calculate the trajectory of a particle, the Runge-Kutta method was utilized. The use of a projectile of particles for the trajectory of liquid jet has been shown to be useful to estimate the influence of different operating parameters such as best particle diameter, density of liquid body, initial take-off velocity, wind velocity, cross wind velocity, take-off angle, and base angle for a released flow from the nozzle. The results give the trajectories of various types of particle of body and at different elevations, base angles, wind velocities and densities of liquid body. The trajectories in a vacuum show that air resistances decreases both the distance and the maximum height of a projectile, and also explain that the termination time is also reduced in air. In addition, the maximum distance in the x direction was obtained with take-off angles from 30 degrees to 45 degrees in still air and the projectile of particles was highly effected by wind and cross wind. Clearly, a particle has to be so positioned as to take the optimum possible advantage of the wind if the maximum distances is requested. The wind astern increased the maximum distances of x direction compared with the wind ahead. Finally, it is possible to optimize the design of pump by using these results.

• Journal of Platform Technology
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• v.6 no.3
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• pp.23-30
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• 2018

A motion pattern generation is a process of calculating a certain stable motion trajectory for stably operating a certain motion. A motion control is to make a posture of a robot stable by eliminating occurring disturbances while a robot is in operation using a pre-generated motion pattern. In this paper, a general method of motion pattern generation for a biped walking robot using universal approximator, learning neural networks, is proposed. Existing techniques are numerical methods using recursive computation and approximating methods which generate an approximation of a motion pattern by simplifying a robot's upper body structure. In near future other approaches for the motion pattern generations will be applied and compared as to be done.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1137-1145
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• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an "overlapped method" to reduce the computing load.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.241-251
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• 1991

The present simulation model relies on a new approach of the heavy particle motion in a turbulent flow considering the time and space correlation to the Lagrangian point of view. The turbulent field is, here, assumed that its characteristic scales are random and follow a Poisson's distribution. Using this model, we have computed the trajectory of each particle, that is, its velocity and position at each time in order to study the dispersion of particles in a grid turbulent flow. The computed results have been compared to the corresponding experimental data. Due to the complex mechanism of turbulence and the theoretically and experimentally lacking information, we had to make some assumptions for simplifying the situation, but we have found the good agreement between simulated and measured results. In particular, the application of the present method on the Lagrangian correlation of particle provides an interesting alternative to the usual computational methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.12
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• pp.1252-1257
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• 2009

Off-line 6-DOF simulation program for store separation analysis has been developed. The developed program enables to predict a trajectory of a store from the database which was constructed by wind tunnel testing or CFD analysis. The flow angle method was applied to the program for predicting aerodynamic coefficients from the database and the ejector forces and constraints were enabled to incorporate the equations of motion for computing the trajectory. Using the program, the trajectories were calculated and the results are compared with the CTS results.

• ETRI Journal
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• v.44 no.4
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• pp.641-653
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• 2022

In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle's safety features and the road's slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane-change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane-change trajectories for autonomous vehicles. When comparing this generated trajectory with a man-generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver's lane-change operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane-change trajectory.

• ICROS
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• v.2 no.3
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• pp.81-91
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• 1996

이 글에서는 Multi-Tasking Real Time O.S인 VxWorks를 기본으로 하여 다중센서 융합(Multi-Sensor Fusion) 능력을 갖는 다중 로봇 협조제어 시스템의 구현에 대하여 살펴보았다. 본 제어 시스템은 두대 로봇의 제어에 필요한 장애물 회피, 조건 동작(Conditional Motion) 혹은 동시동작(Concurrent Motion)과 외부 디바이스와의 동기 Motion(Conveyor Tracking)을 수행할 수 있게 구현하였고, 몇몇 작업을 통해 우수성을 입증하였다. 앞으로 본 연구와 관련한 추후 과제로는 1) 자유도가 6관절형인 수직다관절 매니퓰레이터를 위한 충돌회피 알고리즘의 개발, 2) Two Arm Robot의 상대 위치를 위한 Auto-Calibration 시스템의 개발, 3) CAD Based Trajectory 생성 등이 있다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.36.6-36
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• 2002

$\textbullet$ Human motion consists of continual impact with environment $\textbullet$ External impulse model of kicking motion $\textbullet$ Models of aerodynamic forces $\textbullet$ Analysis of external impulse according to posture $\textbullet$ Simulation of a soccer ball trajectory

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.151-155
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• 1996

In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.