• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.5 s.311
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• pp.19-27
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• 2006

Improvement in gait stability of fault-tolerant gaits for quadruped robots is addressed in this paper. The previously developed fault-tolerant gait gives a quadruped robot the ability to continue its walk against the occurrence of a leg failure. But it has a drawback of having marginal gait stability, which may lead to tumbling when the robot body's center of gravity is perturbed. To overcome such a drawback, a novel fault-tolerant gait is presented in this paper that generates positive stability margin against a locked joint failure, in which a joint of a leg is locked in a known place. Positive stability margin is obtained by adjusting foot positions of supporting legs between leg swing sequences. The advantages of the proposed fault-tolerant gait are discussed by comparing with the previous gait in terms of gait stability, stride length and gait velocity.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.7
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• pp.1418-1423
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• 2004

A legged robot is friendly to human because it is resemble to human. And the robot can obtain support points freely because it has high degree of freedom for several joint as compared with a wheeled robot. Also the robot can create the relative position at desired position between support position and robot. The joint of robot cu used as manipulator. On the contrary the mechanism of robot is complicated to have many joint and moving speed is lower than wheeled robot. Also the legged robot is needed a special control not to fall on the ground because the robot is easy to vibrate when it is moving. The 4 leg structure is the minimum leg numbers not to fall and to realize safety gait continuously. A trot gait is investigated through experiments using a quadruped walking robot named TITAN-VIII.

• Physical Therapy Korea
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• v.28 no.3
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• pp.227-234
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• 2021

Background: The serratus posterior inferior (SPI) muscle originates from the spinous process of T11-L2 and inserts at the lower border of the 9-12th ribs. This muscle is involved in thoracolumbar rotation and stability. Several positions can be used to improve trunk stability; the quadruped position is a good position for easily maintaining a neutral spine. In particular, during one arm lifting, various muscles act to maintain a neutral trunk position, and the SPI is one of these muscles. If trunk stability is weakened, uncontrolled trunk rotation may occur at this time. Tape can be used to increase trunk stability. There have been no studies on the effect of taping applied to the SPI muscle on thoracolumbar junction (TLJ) stability. Objects: This study compared the TLJ rotation angle between three different conditions (without taping, transverse taping, and SPI muscle direction taping). Methods: Thirty subjects were recruited to the study (18 males and 12 females). The TLJ rotation angle was measured during one arm lifting in a quadruped position (ALQP). Two taping methods (transverse and SPI muscle direction taping) were applied, and the TLJ rotation angle was measured in the same movement. Results: SPI muscle direction taping significantly reduced TLJ rotation compared to that without taping (p < 0.001) and with transverse taping (p < 0.001). There was a significant difference in the TLJ rotation angle between transverse taping and SPI muscle direction taping (p < 0.017). Conclusion: SPI muscle direction taping reduces the TLJ rotation angle during ALQP. Therefore, SPI muscle direction taping is one method to improve TLJ stability and reduce uncontrolled TLJ rotation during ALQP.

• The Journal of Internal Korean Medicine
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• v.42 no.5
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• pp.1009-1019
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• 2021

Purpose: The aim of this study was to report the improvement of Guillain-Barre syndrome after long-term combination treatment with Korean medicine. Methods: A patient was diagnosed with Guillain-Barre syndrome and treated with herbal medicine, acupuncture, pharmacopuncture, moxibustion, and exercise, including quadruped walking after three hospital admissions. To evaluate muscle strength and weakness, we measured manual muscle function, gait pattern, and the speed of quadruped walking. Results: The patient's muscle weakness in the extremities and gait stance were improved. The speed of quadruped walking was increased. Conclusion: We consider that combined treatment with Korean medicine might be effective for the muscle weakness of Guillain-Barre syndrome with a poor prognostic factor. To verify the effectiveness of this treatment, further research is needed.

• Communications of the Korean Institute of Information Scientists and Engineers
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• v.26 no.4
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• pp.73-78
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.69-73
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• 1987

In this paper the continuous static stable gait, kinematics and the basic control algorithm of the quadruped walking robot have been discussed. The control method described in this paper will be extended for the walking robot to walk on an uneven terrain.

• 전자공학회논문지 IE
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• v.43 no.4
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• pp.52-59
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• 2006

Walking robot is able to move in regular or irregular terrain. It can walk that change adaptive algorithms according to the terrain. Existing papers about adaptive gaits of blind robot are based on intelligent foothold selection. However, this paper proposes a algerian that is based on the variations of stroke and period to adapt the irregular terrain. If thus adaptive algorithms is used, robot can maintain periodic gait walking and constant speed using only force sensor even in the irregular terrain without external sophisticated sensor. In this paper Quadruped robot with 2 DOF in each leg, is walk experiment with the wave gait in regular and irregular terrain. So the adaptive algorithm is proved useful through walk experiment.

• Journal of the Korea Fashion and Costume Design Association
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• v.14 no.3
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• pp.67-77
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• 2012

Hanbok of dolls can be a good medium that can given with value of traditional cultural products, however, it is not easy to see hanbok and its pattern from dolls. Especially for the case of rag doll which is closely related to the life of users, it has enough value as traditional cultural contents, however, there have been not sufficient studies on its pattern development and classification of form of dolls. Therefore, by classifying the body type of dolls by its pose, this study aims to provide a basic data for the development of hanbok pattern. This study looks into the origin and meaning of dolls and the definition and features of rag doll, then, it collected pictures and data rag dolls produced by 29 domestic companies. Through the data collected, the six different types of dolls, 'Sitting Style', 'Standing Style', 'Lying Style', 'Cushion Style', 'Quadruped Sitting Style', 'Quadruped Standing Style', were classified into form. In the future, I hope the result of this study can be used as useful data for toy manufactures and cultural business in relation to development of rag doll and at the same time as a basic data for development of hanbok pattern development of rag dolls as traditional cultural goods.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.6
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• pp.75-82
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• 2010

In this paper, we developed a new MSRDS(Microsoft Robotics Developer Studio) simulator for a quadruped pet robot with synchronization of virtual and real robots. By using this simulator, it is possible to reduce time and cost for gait and motion design and it will help for commercialization of service pet robots. In the research point of view, the simulator can be used to examine the model differences between the virtual and the real robots. Since this simulator implements the coordinated control of the virtual and real robots, it can be used as an internet game using two remote pet robots.