• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.397-397
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• 2000

This paper presents a gait control scheme for teleoperation of a quadruped-walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of a moving trajectory. When the direction of the velocity command is changed, the periodic gait is not available because this requires an initial foot position . This paper proposes the aperiodic gait control scheme that can converge to a periodic gait Simulation results are given to demonstrate the efficiency of the proposed control scheme.

• Physical Therapy Korea
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• v.8 no.1
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• pp.76-88
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• 2001

Back extension exercises have been used for rehabilitation of the injured low back, prevention of injury, and fitness training programs. However, excessive loading on low back can exacerbate existing structural weakness. The purpose of this study was to compare muscle activity of low back muscles during back extension exercises. Twenty healthy male subject s were evaluated. Electromyographic (EMG) activities of low back muscles at L1 and L5 level were recorded during seven different back extension exercises and two reference tasks by surface EMG and saved for data analysis. Reference tasks of lifting 20% and 40% of their body weight were included for comparison. The result were as follows: 1) Single-arm extension and single-leg extension exercises on quadruped position appeared to constitute a low-risk exercise for initial extensor strengthening. 2) When arm extension was combined with contralateral leg extension on quadruped position, EMG activities of low back muscles were increased. 3) EMG activity of low back muscles was highest during the trunk extension exercises on prone position. 4) EMG activities of low back muscles during arm and leg extension exercises on quadruped position were less than those of reference task of lifting 40% of their body weight. These result s have important implications for progressive back extensor muscle strengthening exercises in patients with back pain.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.104.3-104
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• 2002

A quadruped stair robot introduced here plays a role in monitoring and moving some place where an operator can not reach or when he may not keep watching. It has several features that travels and poses variable position by four caterpillars and quadruped typed arms, transmits an image and command data via RF wireless and network communication. The robot can balance itself when it moves up and down on a slope by using the quadruped mechanism. The robot vision scans ahead before it moves, and the captured image is transferred to a main computer via a RF image module. The main computer analyzes the obstacle, and when it is found the obstacle, the robot avoids from the obstacle and keep moving f...

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.1039-1048
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• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.5
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• pp.603-609
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• 2010

This paper introduces an objects recognition algorithm based on SURF(Speeded Up Robust Features) and GP(Genetic Programming) based gaits generation. Combining both methods, a recognition based intelligent walking for quadruped robots is proposed. The gait of quadruped robots is generated by means of symbolic regression for each joint trajectories using GP. A position and size of target object are recognized by SURF which enables high speed feature extraction, and then the distance to the object is calculated. Experiments for objects recognition and autonomous walking for quadruped robots are executed for ODE based Webots simulation and real robot.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.8
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• pp.1188-1200
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• 1990

In this paper, the 3-D positioning problem for a quadruped walking robot is investigated. In order to determine the robot's exterior position and orentation in a worls coordinate system, a stereo 3-D positioning algorithm is proposed. The proposed algorithm uses a Guide-Mark Pattern (GMP) specialy designed for fast and reliable extraction of 3-D robot position information from the uncontrolled working environment. Some experimental results along with error analysis and several means of reducing the effects of vision processing error in the proposed algorithm are disscussed.

• The Journal of Korean Physical Therapy
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• v.7 no.1
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• pp.33-42
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• 1995

The purposes of this study were 1) to compare weight distribution and ratio of the extremities between normal and hemiplegic children in quadruped position and 2) to compare the effect of ATNR on weight bearing of the extremities between normal and hemiplegic children. The subjects fer the study were 48 children(24 normal, 24 hemiplegic) between the ages 3 to 6. They were teated weight distribution and ratio of the extremities in the neutral position of head and by passive right and left rotation of the head in the quadruped position. The data wert analized by paired t-test. The results were as follows: 1. In the neutral position of head, normal group was not difference on weight distribution and ratio of the extremities and hemiplegic group was more weight bearing on the sound upper extremity than the affected upper extremity(p<.01). 2. When the head rotated to the dominant side or sound side passively, there was not a significant difference between normal and hemiplegic group. 3. When the head rotated to the nondominant side or affected side passively, there was a significant difference between nondominant upper extremity nf normal and affected upper extremity of hemiplegic group(p<.05).