• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.848-857
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• 2000

A pick-and-place operation in 3-dimensional environment is basic operation for human and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

• Korean Journal of Applied Biomechanics
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• v.14 no.2
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• pp.15-26
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• 2004

The purpose of this study was to investigate the kinematic variables of peters motion in parallel bars. The subjects were 3 male national gymnasts. For this study, kinematic data were collected using video camera. Coordinate data were low-pass filtered using a fourth-order Butterworth with cutoff frequency of 6Hz. Each valuables analyzed was used to compare kinematic features between the subjects. The conclusions were as follows; 1. For a stable regrasp motion, the subjects appeared to increase horizontal and vertical displacement during the DS phase because it induce a vertical elastic of body and reaction of bar for the US phase. 2. For a stable hand standing motion of the regrasp, the subjects appeared to maintain the fast vertical and horizontal velocity during the DS phase, but in contrary during the US and Air phase the vertical and horizontal velocity appeared to do decrease. 3. When the arm lean angle and the trunk lean angle maintain a big angle during the DS phase, the subjects appeared to do a stable performance to release in a high position.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.43-53
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• 2005

This study is to define how the difference of athletic change influence on the last regrasp after somersault in Belle movement of parallel bars. For his study, the following conclusion was produced by analysis of athletic change by means of three dimensional visual image in three athlete of nation. 1. As the picture of S1, there are total used time(2.01 sec), S3(2.17 sec) and S2(2.19 sec). In case of a short needed time, it is difficult for them to perform the remaining movement of the vertical elevating flight easily and comfortably, it is judged as performing the small movement with restrict swing. 2 In the change of body center sped by each event, it is calculated as $-89.1^{\circ}$ the narrowest in S1, $-81.96^{\circ}$ the widest and then $86.34^{\circ}$ in S3. In E3 event, average compound speed is 4.07m/s, S2 showed the fastest speed of 4.14m/s whereas S1 the narrowest angle of 3.95m/s. 3. A shoulder joint and coxa are the period of mention in E3. In E4 which was pointed out the longest vertical distance, S2 that is indicated the highest vertical height as the period of detach in parallel bars. showed -3.91m. This is regarded as a preparatory movement for dynamic performance after using effectively elastic movement of shoulder joint and coxa while easily going up with turning back movement. In the 5th phrase, long airborne time and vertical change position is showed as the start while regrasping securely air flight movement from high position. 4. In E5, a long flight time and a long vertical displacement were shown as the regrasp after somersault efficiently in high position with stability from the point of the highest peak of the center of the body. Especially, S2 is marked as a little bit long position, while S1 is reversely indicated as performing somersault and unstable motion in a low position. 5. In E3, at the point of the largest extension of the shoulder joint and hip joint the shoulder joint is largely marked in $182^{\circ}$ and the hip point $182^{\circ}$ in S2. The shoulder joint is marked at the smallest angle in $177^{\circ}$ and the hip point $176^{\circ}$ in S1. And S1 is being judged by its performance of the less self - confident motion with lessening a breath of swing. S2 makes the most use of flexion and extension of the shoulder joint and the hip joint effectively. It was performed greatly with swinging and dropping the rotary movement and the rotary inertia naturally. 6. In E6, as the point of regrasp of the upper arm in parallel bars it is recognized by the that of components of vertical and horizontal velocity stably. During this study, the insufficient thing and the study on the parallel bars at a real game later are more activated than now. If it is really used as the basic materials by means of Belle Picked Study of Super E level after Bell movement, you may perceive the technique movement previously and perform without difficulty. Especially, such technique as crucifix is quite advantageous for oriental people thanks to small body shape condition. In conclusion we will nicely prepare for our suitable environment to gradually lessen trials and errors by analyzing and studying kinematically this movement.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.121-128
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• 2019

Objective: The aim of this study was to examine the relation between swing phase and airborne phase of Tkatchev motion which was successfully performed with following motion by excellent middle and high school athletes in horizontal bar. Method: The subjects for this study were 8 male middle and high school top athletes. After their Tkatchev motions were filmed by two digital highspeed camcorders setting in 90 frames/sec at the 44th National Gymnastics against Cities and Provinces, the % lapse time lapse time of each instant, inferred maximum force acting on horizontal bar, and other kinematical variables were calculated through DLT method. After the relations among the % lapse times of each instants of downswing-start, downswing-finish, whipswing-finish, release, peak-height, and lapse time of regrasp, the relation among maximum force acting on bar, % lapse time, peak height, and the relation between % lapse time and release height were examined, the biomechanical timing characteristics of Tkatchev motion were as follows. Results: Firstly, it was revealed that the whole lapse time was $1.62{\pm}.06s$ and the correlation between the % lapse time of downswing-start and % lapse time of release was .819. Secondly, it was revealed that the pattern of COG path was shifted forwardly and tilted 11 clockwise from origin. Thirdly, it was revealed that maximum force acting on bar was inferred in $2,283{\pm}425N$ ($4.7{\pm}.6BW$) and the correlation between maximum force and peak height was r = .893. Lastly, it was revealed that the horizontal and vertical component of body COG velocity was $-2.14{\pm}.29m/s$, $2.70{\pm}.43m/s$ respectively, release height was $.49{\pm}.12m$, and shoulder angle was $139{\pm}5deg$, and that the later the % lapse time of release, the higher the release height (r = .935). Conclusion: It is desired that the gymnastic athletes should delay the downswing-start near the horizontal plane on $2^{nd}$ quadrant because the later the % lapse time of downswing, the higher the release height. After all the higher release height could ensure the athletes to regrasp the bar safely, the athletes should exercise to make downswing-start delay.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.55-63
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• 2006

The purpose of this study is to prove the kinematical characteristics of Deff motion, the high bar performance, in terms of flying phases so that we can provide basic sources for improving gymnastic performance. To do this, we selected and analyzed the performance of two athletes who did Deff motion in the high bar competition of male artistic gymnastic in the 22nd Universiade 2003 Daegu. We drew the conclusions from the kinematical factors that were came out through analyzing three-dimensional cinematography of the athletes' movements, by using a high speed video camera. To make a successful performance, a performer releases the bar at a height of a high bar vertically and at a height of 82cm horizontally, and the flying performance should be made without moving forward, as maintaining the proper balance, in order to rise over 118cm high during the flying phase. When the performer is releasing the bar, an increase of the vertical speed in the center of the body and extension of a knee joint and a hip joint contribute to increasing a flying height. And when the moving body is twisted, leaning to left side is caused by the winding movement of a knee joint, which causes an unstable bar grasp. To grasp the bar stably, just before releasing the performer should gain propulsive force from twisting rotation through increasing the speed of shoulder rotation. And before the peak point, the performer should make sure of a body rotation distance over $164^{\circ}$ so that he or she can do an aerial rotary performance smoothly. When grasping the high bar, the center of the body should be above the bar and the angle of shoulder rotation should be maintained close to $540^{\circ}$ simultaneously. he high point performance(S1) has more speed on an ascending phase and less speed on a descending phase than the low point performance (S2). At the peak point, both the rotation angle of the body and that of the shoulder in high point performance are big as well. In conclusion, it is shown that a performer can make a jump toward the high bar easily with the body straight because the performer can hold the upper part of the body erect early in a descending phase.