• 로봇학회논문지
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• 제17권4호
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• 한국철도학회논문집
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• 제14권4호
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• pp.333-340
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• 2011

본 논문은 유럽 TSI와 국내철도차량안전기준에 정의된 건널목 충돌사고시나리오에서 요구하는 성능의 대형 변형체 장애물의 유한요소 모델에 대하여 2가지 종류의 모델을 개발하여 한국형 분산형 고속철도 차량에 적용하고 평가하였다. 규정에서 요구하는 대형 장애물은 기존 강체모델에서 현재의 변형체모델로 변경되었으며 규정에 정의된 방법으로 변형체 강성 값이 검증되어야 한다. 여러 번의 시뮬레이션을 통해 기준을 만족하는 균일한 밀도와 강성의 솔리드 형 장애물 모델과 균일하지 않은 셸 형 장애물 모델 등 2가지를 개발하였다. 본 연구에서 개발된 대형장애물을 사용하여 분산형 고속열차를 대상으로 규정의 대형장애물 충돌시뮬레이션을 수행하였고 그 결과를 평가하였다. 셸 형과 솔리드 형 장애물은 열차와 충돌 후 거동에 상당한 차이가 있었고, 셸 모델이 더 가혹한 결과를 나타내었다.

• 대한물리의학회지
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• 제9권1호
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• pp.93-99
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• 2014

PURPOSE: The purpose of this study was to compare three dimensional displacement and peak velocity of the center of mass (COM) during obstacle crossing in young and older adults. METHODS: 10 young adults (6 males/4 females, $24.6{\pm}1.9$ years, age range: 22.0-26.9) and 10 older adults (1 male/9 females, $76.9{\pm}5.1$ years, age range: 65.2-81.2) participated in the study. Both groups crossed an obstacle, which is 10% of leg length, and COM was measured using motion analysis system. Independent t-test was used to find significant differences between two groups. RESULTS: The older adults showed significantly greater and faster COM displacement and peak velocity in mediolateral (M-L) direction as compared with young adults (p<.01 and p<.001 respectively). However, the young adults showed significantly greater and faster COM displacement and peak velocity in anteroposterior (A-P) direction as compared with older adults (p<.05 and p<.001 respectively). Furthermore, the young adults showed faster peak velocity of COM in vertical direction as compared with older adults (p<.001). However, no significant difference was found in the COM displacement in vertical direction between two groups. CONCLUSION: Greater and faster COM displacement and peak velocity in M-L direction in older adults were due to compensatory adjustment for appropriate contact on base of support of swing limb. Thus, the motion of the COM in M-L direction may be a crucial factor to identify risk of falls in older adults.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1197_1198
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• 2009

The development of Technology study for preventing of accident and reducing the risk through the intelligence of level crossing is provide the detection of stopped car at railway crossing with the most advanced intelligence technology such as sensor, computer, communication and date processing and transmit to the operational staff on broad for reaction or make the train stopped automatically through the connection with train. Also this study include that showing the situation of crossing railway when the train is approached and prevent the accident and reduce the risk through the connection of road transit signal system. On this study is performed the test through the date from spot level crossing and the development of video detection algorism for stopped road transit vehicle at level crossing with intelligent system.

• The Journal of Korean Physical Therapy
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• 제26권4호
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• pp.257-261
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• 2014

Purpose: The purpose of this study was to compare plantar foot pressure distribution in adults and elderly according to obstacle height. Methods: Nine healthy adults and nine older adults were recruited and the subjects provided written informed consent consent prior to participation. Both groups walked and crossed obstacles with heights of 0%, 10%, 20%, and 30% of their height. Foot pressure was measured by peak pressure using the Pedar System (Novel Gmbh, Germany) during obstacle walking with barefeet in shoes. Three trails were calculated on eight areas and then averaged for data analysis. Results: A significant difference in great toe, little toes, and lateral metatarsal area was observed between adults and elderly groups, but other areas did not show significant differences. Foot pressure was increased in groups according to obstacle height. Conclusion: These findings showed that change in foot pressure distribution is more lateral in elderly in order to maintain postural control during obstacle crossing.

• 로봇학회논문지
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• 제18권2호
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• pp.143-154
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• 2023

In this study, a fast motion planning method for the swing motion of a 6x6 wheel-legged robot to traverse large obstacles and gaps is proposed. The motion planning method presented in the previous paper, which was based on trajectory optimization, took up to tens of seconds and was limited to two-dimensional, structured vertical obstacles and trenches. A deep neural network based on one-dimensional Convolutional Neural Network (CNN) is introduced to generate keyframes, which are then used to represent smooth reference commands for the six leg angles along the robot's path. The network is initially trained using the behavioral cloning method with a dataset gathered from previous simulation results of the trajectory optimization. Its performance is then improved through reinforcement learning, using a one-step REINFORCE algorithm. The trained model has increased the speed of motion planning by up to 820 times and improved the success rates of obstacle crossing under harsh conditions, such as low friction and high roughness.

• 대한물리의학회지
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• 제12권3호
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• pp.85-91
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• 2017

PURPOSE: The purpose of this study was to compare muscle activation of the trunk and lower limbs of subjects wearing high-heeled or flat shoes while crossing over obstacles of different heights. METHODS: Twenty subjects participated in this study. While wearing high-heeled shoes (7 cm) or flat shoes (0 cm), the subjects were asked to cross over obstacles of different heights (10%, 20%, and 30% of their lower-limb length). Muscle activation of the trunk and lower limbs with the supported side while crossing over obstacles of different heights was measured using the electromyogram (Noraxon, DTS, Germany). Two-way repeated ANOVA was used to compare the muscle activation between high-heel shoes and flat shoes while crossing over obstacles of different heights. All statistical analyses were performed using SPSS ver. 21, and p-values less than .05 were used to identify significant differences. RESULTS: As an obstacle's height increased, muscle activation of the trunk and lower limbs with the supported side was increased while wearing either type of shoe, and it was generally higher while wearing high-heeled shoes. However, tibialis anterior muscle activity while wearing high-heeled shoes was lower than while wearing flat shoes. CONCLUSION: This study showed that muscle activation of the trunk and lower limbs was higher when subjects wore high-heeled shoes than when they wore flat shoes while crossing over obstacles of different heights. Therefore, high-heeled shoes can easily cause high muscle fatigue of the trunk and lower limbs, and the TA muscle may weaken in persons who wear high-heeled shoes.

• 대한물리의학회지
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• 제14권4호
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• pp.55-62
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• 2019

PURPOSE: This study examined the muscle activity while stepping over obstacles with various heights and widths to provide basic data for training and preventing falls. METHODS: Fifteen normal young adults (seven males and eight females) were recruited. The participants walked on a 5m walkway with six obstacles. The heights of obstacles were 0%, 10%, and 40% of the subject's leg length, and the width of the obstacles was 7cm and 14cm. The participants traversed the course twice per obstacle. The muscle activities of the soleus, tibialis anterior (TA), vastus medialis (VM), and vastus lateralis (VL) were measured using surface electromyography. A Mann-Whitney test and Kruskal-Wallis test were used to examine the differences between obstacles. RESULTS: The muscle activities of the VL and the soleus of the stance leg and lead leg after crossing over the obstacles increased with increasing width, and there were significant differences in muscle activities between obstacle width (p<.05) except for the muscle activity of TA of the stance leg after crossing over the obstacles. A significant difference in muscle activities was observed according to the height of the obstacles with 14 cm (p<.05) except for the muscle activity of the VL, soleus of the leading leg, and TA of the stance leg CONCLUSION: The role of the VL and Soleus increased with increasing obstacle width, and the overall muscle activities of the lower extremities increased with increasing obstacle height. These results can be used to suggest a program to prevent falls.

• 한국운동역학회지
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• 제19권3호
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• pp.539-547
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• 2009

본 연구의 목적은 낙상 예방을 위한 12주간의 수중 운동 수행 후 장애물 보행의 특성을 운동학 및 운동역학적으로 분석하는 것이다. 여성 노인 8명이 참여하였으며, 대상자들은 수중 운동 전 후에 네 높이의 장애물(0, 2.5, 5.1, & 15.2cm)을 자기선호 속도로 넘었다. 수중 운동 수행 후 고관절의 최대각, 최소각, ROM(Range Of Motion)이 유의하게 증가하였으며, Swing 과 Stance 국면에서 소요시간은 줄어들었다. 수중 운동 후 모든 높이에서 보폭은 유의하게 증가하였고, 보간은 줄어들었다. 수중 운동 후 장애물을 넘는 순간 장애물과 오른발 사이의 수직 최단거리는 증가하였고(15.2cm 장애물 제외), 장애물을 넘는 속도는 증가하였다. 수중 운동 수행 후 제동력, 추진력, 제동 운동량, 추진 운동량은 통계적으로 유의하게 변화하였다. 12주간의 수중 운동은 여성 노인의 근력과 평형성을 향상시켰으며 이는 낙상과 관련된 장애물 보행의 운동학 및 운동역학적 변인의 변화를 가져와 여성 노인들이 장애물을 안전하고 신속하게 넘을 수 있었다. 따라서 노인에게 보행 능력 향상과 낙상 예방 운동으로 수중 운동이 추천된다.

• The Journal of Korean Physical Therapy
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• 제21권3호
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• pp.75-80
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• 2009

Purpose: The purpose of this study was to examine the effect of an obstacle height on the balance control of older adults while stepping over an obstacle from a position of quiet stance. Methods: Fifteen community-dwelling healthy older adults (mean age, $74.4\pm4.27$ yrs; age range, 67-82 yrs) volunteered to participate in this study. The subjects performed gait initiation (GI) and they stepped over obstacles of two different heights (10 cm and 18 cm) at a self-paced speed from a position of quiet stance. Their performance was assessed by recording the changes in the displacement of the COP in the anteroposterior (A-P) and mediolateral (M-L) directions using a force platform. Results: The M-L displacement of the COP significantly increased for an 18 cm obstacle height condition as compared to the GI and a 10 cm obstacle height condition (p<0.01). Furthermore, the M-L displacement of the COP for a 10 cm high obstacle was significantly greater for that for the GI (p<0.01). However, the mean of the A-P displacement of the COP was similar between the stepping conditions for the A-P displacement of the COP (p>0.05). Conclusion: This study suggests that the M-L COP displacement could be a better parameter to identify the dynamic balance control in older adults when negotiating obstacles.