• Title/Summary/Keyword: Stable walking

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Mechanism Design of Cane-like Passive Type Walking Aid For the Elderly Using 3-RPS Parallel Manipulator (3-RPS 평형기구를 이용한 노인용 지팡이형 보행보조기기 메커니즘 개발)

  • Kim, Jeong-Hun;Jang, Dae-jin;Park, Tae-Wook;Yang, Hyun-Seok;Lee, Sang-Moo
    • Proceedings of the KSME Conference
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    • 2004.11a
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    • pp.725-730
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    • 2004
  • This paper has regarded mechanism design of cane-like passive type walking aid for the elderly using 3-RPS parallel manipulator. First, gait patterns of the elderly have been experimented. By means of motion capturing and image processing, we decided loaded forces and places of the cane when the elderly walked with a cane. Using these results we have developed a passive type walking aid. Second, the walking pattern has been simulated using dynamic analysis program, ADAMS and we find out the similarity between the real walking and the simulated walking. Finally after assuring the similarity, with adjusting the new mechanism design to the simulated walking we will decide whether the walking aid is safe and stable when the elderly walks with this cane-like walking aid. This paper will be basis for the development of the mechanism design applying 3-RPS parallel manipulator.

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Gait Analysis on the Elderly Women with Foot Scan (Foot Scan 측정을 통한 노년 여성의 보행 분석)

  • Kim, Seong-Suk;Kim, Hee-Eun
    • Fashion & Textile Research Journal
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    • v.15 no.4
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    • pp.613-619
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    • 2013
  • This study compares the gait characteristics of elderly women during barefoot walking and walking with sneakers. We measured foot angles, max foot pressure, peak plantar pressure of each plantar region, velocity of Center of Pressure(COP), and axis shifting of COP with an RS-scan system. Elderly women's foot angles were narrower when walking with sneakers than when barefoot walking. We found that the subtalar joint angle (representing ankle joint flexibility) affected walking stability. Regarding the peak plantar pressure of each foot region, pressures were high in the medial regions and the pressures greatly varied depending on the region measured during barefoot walking. The COP moved significantly faster when walking with sneakers than barefoot walking and suggests that elderly women walked faster in sneakers. Axis shifting of the COP decreased during walking with sneakers and indicated that gait balance improved when walking with sneakers. The findings of the present study can be utilized as foundational data for elderly women's gait characteristics as well as data for the production of functional footwear. Future research that focuses on various types of shoes, age groups, and gender are recommended for the development of more functional footwear for stable gaits.

Force Control of an Arm of Walking Training Robot Using Sliding Mode Controller (슬라이딩모드 제어기를 이용한 보행 훈련 로봇 팔의 힘제어)

  • 신호철;강창회;정승호;김승호
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.12
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    • pp.38-44
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    • 2002
  • A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

Unified Strategy for Quadruped Walking Robot in Unstructured Environment

  • Kang, Tae-Hun;Son, Tae-Young;Kim, Hyung-Seok;Choi, Hyouk-Ryeol
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.639-644
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    • 2003
  • An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

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Automatic Motion Generator and Simulator for Biped Walking Robots (이족 보행 로봇을 위한 자동 모션 제너레이터 및 시뮬레이터)

  • 최형식;전창훈;오주환
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.948-953
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    • 2004
  • For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.

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정적 보행모델에 기반을 둔 4족 보행로봇의 온라인 틸팅 제어알고리즘

  • 이순걸;조창현;홍예선
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.3
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    • pp.83-91
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    • 2000
  • During static walking of a quadruped walking robot, stability of the robot depends on whether the projection of the mass center is located within the supporting area that is varying with leg motion and formed by standing legs. In this paper, force margin instead of the mass center was used to determine stability and body-tilting method was used to enhance it. On-line control of body tilting was realized with simple reaction feedback based on force margin of the static walking model of the robot instead of complicated calculation. Model reference on-line control where the model searches stable pose for predefined force margin also gave good walking performance.

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Use of Learning Based Neuro-fuzzy System for Flexible Walking of Biped Humanoid Robot (이족 휴머노이드 로봇의 유연한 보행을 위한 학습기반 뉴로-퍼지시스템의 응용)

  • Kim, Dong-Won;Kang, Tae-Gu;Hwang, Sang-Hyun;Park, Gwi-Tae
    • Proceedings of the KIEE Conference
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    • 2006.10c
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    • pp.539-541
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    • 2006
  • Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

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Development of Biped Walking Robot Capable of Supporting Heavy Weight (고중량 지지 가능한 이족보행로봇의 개발)

  • Choi H.S.;Lee S.J.;Oh J.H.;Kang Y.H.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2006.05a
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    • pp.63-64
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    • 2006
  • In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

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Intelligent Walking of Humanoid Robot for Stable Walking on a Decent (휴머노이드 로봇의 경사면 내리막 보행을 위한 지능보행 연구)

  • Kim, Dong-Won;Park, Gwi-Tae
    • The Journal of Korea Robotics Society
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    • v.1 no.2
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    • pp.197-202
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    • 2006
  • We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.

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Janssen mechanism leg walking robot development and optimization (얀센 메커니즘의 다리 보행 로봇 개발 및 최적화.)

  • Kim, Hyuk;Moon, Yea Chol
    • Proceeding of EDISON Challenge
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    • 2016.03a
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    • pp.417-423
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    • 2016
  • Develop a leg walking robot mechanisms with Janssen. Development item increases as the moving speed through the weight to set the leg to walk stably. The material is used the metal material was later used to produce a plastic using a 3D printer developed a walking robot with stable and lightweight material.

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