• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1977-1978
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.686-691
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• 2003

In the paper, an intelligent biped walking robot that can overcome the obstacle is developed. Walking algorithms are designed based on the analysis of the human's manner of walking. Infrared sensors are used to detect the obstacles in the working environment and the remote controller of the biped robot use a RF module. The experiment results show that the developed biped walking robot can perform the stable static walking, attention walking, rotation and side stepping to avoid the obstacle, and hurdling the obstacle using the distance correction algorithm that is designed based on the distance information between the biped robot and the obstacle.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.404-407
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• 2003

In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

• Transactions on Electrical and Electronic Materials
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• v.18 no.5
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• pp.298-302
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• 2017

With an increasing aging population and improved standards of living, more attention has been paid to health. Although walking exercise is known as an aerobic exercise, it imposes repeated and continuous impacts on the joints of the lower extremities. Therefore, when overweight gives a burden to the lower extremity or there is a joint disease, exercise limit occurs. The articular cartilage, weakened with age, also makes it difficult for the elderly to perform walking exercises. Accordingly, this study conducted a comparative analysis between regular walking using only the lower extremity and Nordic walking, which has been known as stable. For analysis, electromyography (EMG) was performed and the ground reaction force of the upper and lower extremities were measured in the same exercise. Integrated EMG (iEMG) revealed that the upper extremity muscles were more active in Nordic walking than in regular walking, where lower extremity muscles were relatively more inactive. In addition, when EMG measurements were performed at each measurement point during walking exercise, the pattern was different. Nevertheless, the result was the same as in iEMG. The load that occurs in each exercise was measured using the ground reaction force system. As a result, Nordic walking had a lower load than regular walking. Therefore, it was found that Nordic walking minimized the load on the lower extremities owing to the effect of whole-body exercise and was a safer and more efficient exercise method.

• Journal of the Korean Society of Physical Medicine
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• v.10 no.3
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• pp.19-27
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• 2015

PURPOSE: This study aimed to investigate the effects of pressure sense perception training (PSPT) on various surfaces on the somatosensory system, balance, and walking ability in chronic stroke patients. METHODS: Thirty patients with stroke participated in this study and were randomly assigned to one of three groups; group 1 received the general physical therapy and the PSPT on a stable surface, group 2 received the general physical therapy and the PSPT on an unstable surface, and group 3 received the general physical therapy alone. Participants in group 1 and group 2 underwent 30 min/session, 3 days per week, for 4 weeks. Pressure error (PE) was used to evaluate changes of proprioception. The Balancia, Functional reach test (FRT), and Timed Up and Go (TUG) were used to assess the balance ability, and the 10m Walking Test (10-MWT) was used to assess walking ability. RESULTS: Experimental groups (group 1 and group 2) showed significant differences in PE, FRT, TUG, and 10-MWT compared to the control group (p <0.05). Group 2 (PSPT on an unstable surface) was significantly different in PE, FRT, and 10-MWT from group 1 (p <0.05). No significant differences were observed for other measures. CONCLUSION: Pressure sense perception training on an unstable surface might be a significantly more effective method for improving somatosensory function, balance, and walking ability, than PSPT on a stable surface.

• Journal of Digital Contents Society
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• v.12 no.3
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• pp.279-289
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• 2011

The latest hardware and software techniques are combined to give safe walking guidance and convenient service of realtime walking assistance system for visually impaired person. This system consists of obstacle detection and perception, place recognition, and sign recognition for pedestrian can safely walking to arrive at their destination. In this paper, we exploit the sign object detection system in subway station for sign recognition that one of the important factors of walking assistance system. This paper suggest the adaptive feature map that can be robustly extract the sign object region from complexed environment with light and noise. And recognize a sign using fast zernike moment features which is invariant under translation, rotation and scale of object during walking. We considered three types of signs as arrow, restroom, and exit number and perform the training and recognizing steps through adaboost classifier. The experimental results prove that our method can be suitable and stable for real-time system through yields on the average 87.16% stable detection rate and 20 frame/sec of operation time for three types of signs in 5000 images of sign database.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.4
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• pp.301-308
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• 2015

The purpose of this study was to compare core muscle activity and thickness in the abdomen (internal Oblique, IO; External Oblique, EO; Transverse Abdominis, TrA) according to walking training methods. Tests were performed on 20 healthy men who randomly assigned to two groups, divided by Nordic walking (n=10) or Power walking group (n=10). They were performed Nordic walking or Power walking training for 2 weeks that is consistent with each of the assigned groups. Results demonstrated that Nordic walking was more effective than Power walking in improving IO and EO activities. Nordic walking is believed to be useful method for a variety of therapeutic exercise as a stable balance with the stick in addition to normal gait and trunk stability.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.693-697
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• 1989

In this paper, force control for a multi-legged walking robot is investigated. For stable but relatively rapid walking, a simple force control algorithm is proposed in conjunction with the position control system. The proposed control method is tested on an experimental one leg system of two degree of freedom with a force controller using a position controller and a monoboard microcomputer to implement the proposed control algorithm. The experimental results shows that the control algorithm can be applied for walking in a terrain with wide range variation.