• 한국정보통신학회논문지
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• 제8권7호
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• pp.1418-1423
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• 2004

관절형 로봇은 바퀴구동로봇에 비해 인간과 비슷한 형태를 갖추고 있어 친화성이 높고 관절로 인하여 자유도가 높으며 접지점을 임의로 설정할 수 있다. 또한 접지위치와 본체와의 상대위치를 자유로이 설정할 수 있으며 관절을 매니플레이터로서 사용할 수도 있는 장점을 가지고 있다. 이에 반해 많은 자유도를 가지고 있어 기구가 복잡하고 이동속도가 바퀴구동로봇에 비해 늦으며 이동시 진동이 일어나기 쉽고 로봇이 넘어지지 않도록 하는 특별한 제어가 필요하게 된다. 많은 생물들의 기본다리인 4족형 구조는 동적안정을 유지하면서 이동을 계속할 수 있고, 또 보행중에도 기구적으로 쓰러짐을 회피할 수 있는 완전보행을 실현하는 최소한의 관절수로 구성되어 있는 보행형태이다. 이러한 보행실험을 위해 4족 보행로봇인 TITAN-VIII을 이용하여 Trot 보행 알고리즘을 연구하여 보행 실험을 행하였다.

• The Journal of Korean Physical Therapy
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• 제5권1호
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• pp.17-24
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• 1993

The purpose of this study was to find out what changes in weight bearing in the both upper extremities occurred in response to Asymmetrical Tonic Neck Reflex by rotation of head in the quadruped position. The subjects for the study were 80 children (44 male, 44 female) who were neurologically normal. They were divided into two groups $6\~7$ year olds and $8\~9$ year olds. Paired t-test was applied as a atatistical method at the 0.01 level of significance. The results of this study are as follows; 1. In the neutral position of head, there was mort weight bearing on the left hand than the right in both of the two groups(p<0.01). 2. When the head was rotated to the right or left passively, there was more weight bearing on the hand of side to which the face was rotated(p<0.01). 3. When the head was rotated to the right or left actively, there us also more weight bearing on the hand of side to which the face was rotated(p<0.01). Therefore, it is possible to un Asymmetrical Tonic Neck Reflex to increase body weight for muscle strengthening in children with weakened muscles of the upper extremities. further studies are required for confirmation of these findings.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.645-650
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• 2003

Legged robots can avoid an obstacle by crawling-over or striding, according to the obstacle’s nature and the current state of the robot. Thus, it can be observed that the mobility efficiency to reach a destination is improved by such action. Moreover, if robots have many legs like 4-legged or 6-legged types, then the robot movement range is affected by the order of swing leg. In this paper, the avoidance action of a quadruped robot is generated by a neural network (NN) whose inputs are information on the position of the destination, the obstacle configuration and the robot's self-state. To realize a free gait in static walking, the order of swing leg is determined using an another NN whose inputs are the amount of movements and the robot’s self-state. The design parameter of the latter NN is adjusted by using genetic algorithm (GA).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1087-1092
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• 1990

This paper describes the development and control of a quadruped walking robot, named as KAISER-II. The control system with multiprocessor based hierachical structure is developed. In order to navigate autonomously on a rough terrain, an identification algorithm for robot's position is proposed using 3-D vision and guide-mark pattern Also, a simple attitude control algorithm is included using force sensors. Through experimental results, it is shown that the robot can not only walk statically on even terrain but also cross over or go through the artificially made obstacles such as stairs, horizontal bar and tunnel-typed one.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.137-141
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• 1988

A sampled data controller for the quadruped walking robot is presented. To provide systematic design procedure, the relation between PI gain of velocity controller and sampling rate is analyzed with the ISE performance index and the time responses. The position controller for one-leg, 3-axis, was developed under consideration of compactness and expendability. And several experiments were performed.

• 대한기계학회논문집
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• 제14권6호
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

• 대한정형도수물리치료학회지
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• 제25권1호
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• pp.29-36
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• 2019

Background: This study was conducted to investigate the effect of leg lift difference on the serratus anterior muscle and the upper trapezius muscle when a subject with winged scapula performs a scapula protraction exercise in a four-leg crawling posture. Method: Twenty normal adults and 20 subjects with winged scapula participated in the experiment. Surface EMG recordings were collected from serratus anterior muscle and back trapezius muscle during scapula protraction exercises. Scapular winging is measured with the lifting distance of scapula retraction to the back using an electronic digital caliper. In two groups of four-leg crawling posture, the two legs support, the dominant leg lifting, and the non-dominant leg lifting, including the scapula protraction, were performed. To examine the difference between groups in the variance analysis, the Bonferroni correction was used (significance level ${\alpha}=.017$). Statistical significance level ${\alpha}$ was .05. Results: There was a significant difference in serratus anterior muscle and upper trapezius muscle during push-up plus exercise in leg lifting in four-leg crawling posture, but there were no significant differences in muscle activity between serratus anterior muscle and upper trapezius muscle, and there was no significant difference according to the presence or absence of scapular winging. Conclusion: For the shoulder stability of the ipsilateral side with the serratus anterior muscle, the leg-lifting posture is effective in the four-leg crawling, and also when a subject with winged scapula chooses an exercise, lifting the ipsilateral side of leg with scapula protraction exercises at the same time may have a positive effect on scapula dysfunction.

• Nuclear Engineering and Technology
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• 제46권3호
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• 한국전문물리치료학회지
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• 제12권1호
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• pp.1-10
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• 2005

The purpose of this study was to verify the most effective spinal stabilization exercises program by comparing the activities of muscles contributing to spinal stabilization during four types of exercises using a sling and a mat. Twenty healthy males were recruited and each subjects performed four types of exercises. Exercise 1 was performed in a quadruped position with the subjects lifting the left arm and the opposite leg on the mat. Exercise 2 was performed in a prone position while holding a sling with the right hand and the left knee was fully extended while lifting the left arm and right leg. Exercise 3 was performed in quadruped position while holding a sling with one the right hand and lifting the opposite arm and leg. In exercise 4, subjects were instructed to maintain a balance push-up position while holding slings with both hands in 10 cm forward reaching with extended elbows. Electromyographic(EMG) activities were recorded from the multifidus, external oblique, internal oblique, abdominal rectus, and erector spinalis muscles during the exercises. The EMG amplitude of each muscle was normalized to the amplitude in the maximal voluntary isometric contraction (MVIC) of each muscle. Repeated ANOVA and Bonferroni's tests were used to compare the differences in the muscle activity according to the types of exercise. The EMG amplitudes of all the muscles were significantly different according to the types of exercises (p<.05). The highest EMG activities of each muscle was as follow; multifidus was 73.38%MVIC in exercise 3, the erector spinalis was 40.03%MVIC in exercise 3, the external oblique was 135.88%MVIC in exercise 4, the internal oblique was 128.60%MVIC in exercise 4, and the rectus abdominalis was 95.24%MVIC in Exercise 4. The types of exercises showed a significant difference in composition rate of EMG amplitudes of each muscle (p<.05). EMG composition rate of the multifidus was high in exercise 1 and 3. However, EMG composition rates of the external oblique, internal oblique, and the rectus abdominals were high in exercise 2 and 4. These results showed differences in EMG activities of muscles contributing to trunk stabilization during different therapeutic exercises. Therefore, the type of exercise should be carefully selected to effectively strengthen a specific trunk stabilizer.

• 한국응용과학기술학회지
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• 제35권3호
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• pp.905-913
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• 2018

본 연구는 필라테스 동작 시 폼롤러의 적용과 움직임에 따른 몸통과 하지의 근활성도 차이를 알아보는 것이 목적이다. 피험자로 남자 8명을 선정하여 필라테스 네발자세, 교각자세, 코어컨트롤 동작을 매트위에서 정적동작, 폼롤러 위에서 정적동작, 폼롤러 위에서 동적동작으로 무선배정하여 1주 간격으로 수행하였다. 각 동작의 수행 시 척추세움근, 배곧은근, 배바깥빗근, 중간볼기근, 넙다리두갈래근과 넙다리곧은근의 근활성도를 측정하여 일원분산분석으로 분석하였다. 유의수준은 ${\alpha}=.05$로 설정하였다. 첫째, 네발기기 동작에서 폼롤러 동적동작에서는 배곧은근, 배바깥빗근, 중간볼기근, 넙다리두갈래근의 근활성도가 높게 나타났으며(p<.001)(p<.05), 폼롤러 정적동작에서는 넙다리곧은근의 근활성도가 높게 나타났다(p<.001). 둘째, 교각자세 동작에서 폼롤러 동적동작에서는 넙다리두갈래근의 근활성도가 높게 나타났다(p<.001). 셋째, 코어컨트롤 동작에서 폼롤러 동적 동작에서는 배곧은근, 척추세움근, 중간볼기근의 근활성도가 높게 나타났으며(p<.001)(p<.01), 정적 동작에서는 배바깥빗근의 근활성도가 높게 나타났다(p<.05). 필라테스 운동시 근활성도를 고려하여 방법과 난이도를 적용하면 더욱더 효과적일 것이라 사료된다.