• Title/Summary/Keyword: Trot

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Kinematic Analysis on the Stabilization & Correction Effects of Riding Posture According to Rider's Skill Levels in Horse Back Riding (승마 숙련도에 따른 기승자세 교정효과의 운동학적 분석)

  • Ryew, Che-Cheong
    • Korean Journal of Applied Biomechanics
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    • v.22 no.1
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    • pp.83-94
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    • 2012
  • The purpose of this study was to analyse the effect of posture correction & stabilization according to horse rider's(n=10) skill levels of novice(0wk), mid-skill(12wk) & skill(24wk) in walk & trot. First, Mean posture of 3 times experiments; Anterior & posterior leaning posture of trunk showed rather unstable according to progress of the stages of TD1, TO, TD2 phase, and also shoulder & elbow angle, which effects to the distance from bit to rein, showed unstable riding posture. There was close relationship between shoulder and elbow Angle in walk and hip, knee & ankle angle in trot. Second, Posture correction & stabilization according to riding skill levels; Anterior & posterior leaning posture of trunk did not show significant difference statistically but showed approaching tendency to trunk's vertical line and showed significant difference(p<.05) according to improvement of skill levels in walk & trot horse riding. Hip angle showed significant difference according to progress of the stages of TD1, TO, TD2 phase(p<.05) and showed tendency maintaining the larger thigh flexion according to improvement of skill levels in walk & trot. Knee angle showed more stable posture by maintaining the larger flexion between thigh and shank according to improvement of skill levels in walk & trot(p<.05). Ankle angle also showed tendency maintaining the larger plantar flexion of foot according to improvement of skill levels in walk & trot. When considering the above, regular horse riding program could be useful in posture correction & stabilization according to improvement of skill levels of novice(0wk), mid-skill(12wk) & skill(24wk) in walk & trot.

Design and Control of a Hydraulic Driven Quadruped Walking Robot (유압구동식 4족보행 로봇의 설계 및 제어)

  • Kim, Tae-Ju;Won, Dae-Hee;Kwon, O-Hung;Park, Sang-Deok;Son, Woong-Hee
    • The Journal of Korea Robotics Society
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    • v.2 no.4
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    • pp.353-360
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    • 2007
  • This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

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An Exploratory Study on the Authenticity Discourse Strategies of Popular Music Audition Programs - Focused on - (대중음악 오디션 프로그램의 진정성 담론 전략에 관한 탐색적 연구 - <미스터트롯>을 중심으로 -)

  • Lie, Jae-Won;Kim, Won-Gyum
    • Journal of Korea Entertainment Industry Association
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    • v.15 no.6
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    • pp.1-13
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    • 2021
  • This study explored the mechanism by which Trot gained a superior position in the broadcasting contents market after the TV Chosun audition program was broadcast. We analyzed the narrative structure of the program to determine what differentiation and popularization strategy the trot audition program took from the existing audition program, and analyzed in-depth interviews with music experts and interviews with the production team. appealed to viewers with a strategy that reversed the success strategy of existing audition programs. First, the strong/non-competent participants did not compete with each other, but rather the strong/skilled players competed against each other. This trot audition set the singing ability as a new 'discourse on sincerity'. Second, we broke away from the 'demon editing', which was considered essential for audition programs, took a strategy of excluding villains. Third, we broke the practice of audition programs that were supposed to show expertise in specific genres, such as idol music, hip-hop, and bands, and combined trot with various genres. Fourth, unlike previous audition programs that mainly targeted specific generations or genders, the strategy was to expand the audience by targeting various age groups. Fifth, it has formed a middle-aged fandom with a 'subtitle strategy' that uses subtitles well to arouse viewers' interest and help empathize.

A Locomotive Analysis on Forelimbs' Movement According to Change in Velocity of Horses' Quadruped Cadence (말의 4족 보법에서 속도변화에 따른 전족 움직임의 운동능력 분석)

  • Hyun, Seung-Hyun;Ryew, Che-Cheong
    • Korean Journal of Applied Biomechanics
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    • v.25 no.4
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    • pp.483-488
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    • 2015
  • Objective : The purposes of this study was to analyze the locomotive movement of forelimbs according to changes in velocities in the quadruped cadence of horses. Methods : Horses selected as subjects consisted of Jeju pony horses (heights of withers: $1.23{\pm}0.51$). Two camcorders (HDR-HC7/HDV 1080i, Sony Corp, Japan) were used to capture the movement of the horses' forelimbs at a rate of 60 frames/sec. Additionally, raw data was collected from Kwon3D XP motion analysis package ver 4.0 program (Visol, Korea) with DARTFISH (DFKREA., Korea) video software solution. The variables analyzed consisted of 1 step lengths, 1 stride lengths, stance time, swing time, 1 stride time, velocity while walking, and trot of the horses. A two-way ANOVA and paired t-test of the variables by velocity and phase were treated at .05 level of significant difference, statistically. Results : The time elapsed of walk(stance: 0.63 sec[63.86%], swing: 0.35 sec[36.14%], 1 stride time: 0.99 sec respectively) showed significant difference with more delay than that of trot(stance: 0.29 sec[45.73%], swing: 0.34 sec[54.27% ], 1 stride time: 0.63 sec respectively), and also showed significant difference at trot in interaction (stance time>tort swing>walk swing>walk stance). The 1 step lengths and stride lengths in trot showed significant difference with longer than that of walk. Velocity of Trot showed significant difference statistically with higher than that of walk Conclusion : The horses' velocity during 1 step lengths and 1 stride lengths showed a proportional relationship, but the correlation between the horses' velocity and stance time showed a negative relationship during the quadruped cadence.

Chord-based stepwise Korean Trot music generation technique using RNN-GAN (RNN-GAN을 이용한 코드 기반의 단계적 트로트 음악 생성 기법)

  • Hwang, Seo-Rim;Park, Young-Cheol
    • The Journal of the Acoustical Society of Korea
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    • v.39 no.6
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    • pp.622-628
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    • 2020
  • This paper proposes a music generation technique that automatically generates trot music using a Generative Adversarial Network (GAN) model composed of a Recurrent Neural Network (RNN). The proposed method uses a method of creating a chord as a skeleton of the music, creating a melody and bass in stages based on the chord progression made, and attaching it to the corresponding chord to complete the structured piece. Also, a new chorus chord progression is created from the verse chord progression by applying the characteristics of a trot song that repeats the structure divided into an individual section, such as intro, verse, and chorus. And it extends the length of the created trot. The quality of the generated music was specified using subjective evaluation and objective evaluation methods. It was confirmed that the generated music has similar characteristics to the existing trot.

Movement Analysis of Waist and Tail of Lizard for Controlling Yawing for Motion in Slow Trotting (저속 주행 시 도마뱀 몸체의 편요 움직임을 제어하는 허리 및 꼬리의 움직임 원리)

  • Kim, Jeongryul;Kim, Jong-Won;Park, Jaeheung;Kim, Jongwon
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.7
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    • pp.620-625
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    • 2013
  • Mammals such as dogs and cheetahs change their gait from trot to gallop as they run faster. However, lizards always trot for various speeds of running. When mammals run slowly with trot gait, their fore leg and hind leg generate the required force for acceleration or deceleration such that the yaw moments created by these forces cancel each other. On the other hand, when lizards run slowly, their fore legs and hind legs generate the forces for deceleration and acceleration, respectively. In this paper, the yaw motion of a lizard model is controlled by the movement of their waist and tail, and the reaction moment from the ground produced by the hind legs in simulation. The simulation uses the whole body dynamics of a lizard model, which consists of 4 links based on the Callisaurus draconoides. The results show that the simulated trotting of the model is similar to that of a real lizard when the movement of the model is optimized to minimize the reaction moment from the ground. It means that the body of a lizard moves in such a way that the reaction moment from the ground is minimized. This demonstrates our hypothesis on how lizards trot using body motion.

A Study on Trot Walking for Quadruped Walking Robot (4족 보행로봇의 Trot 보행에 관한 연구)

  • Bae Cherl-O;Ahn Byeong-Won;Kim Hyun-Soo
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.8 no.7
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    • pp.1418-1423
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    • 2004
  • A legged robot is friendly to human because it is resemble to human. And the robot can obtain support points freely because it has high degree of freedom for several joint as compared with a wheeled robot. Also the robot can create the relative position at desired position between support position and robot. The joint of robot cu used as manipulator. On the contrary the mechanism of robot is complicated to have many joint and moving speed is lower than wheeled robot. Also the legged robot is needed a special control not to fall on the ground because the robot is easy to vibrate when it is moving. The 4 leg structure is the minimum leg numbers not to fall and to realize safety gait continuously. A trot gait is investigated through experiments using a quadruped walking robot named TITAN-VIII.

A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot (사각보행기의 고속 보행제어를 위한 동적 모델링 및 해석)

  • Kang, Sung-Chul;Yoo, Hong-Hee;Kim, Mun-Sang;Lee, Kyo-Il
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.21 no.5
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    • pp.756-768
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    • 1997
  • In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

A study on Dynamic Gait Quadruped Walking Robot (사각 보행 로봇의 동적 걸음새에 관한 연구)

  • 김진섭;오준호;조진철
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1997.04a
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    • pp.78-81
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    • 1997
  • In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.

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The Energy Efficiency of Walking Method for Quadruped Walking Robot (4 족 보행로봇의 보행방법에 대한 에너지효율)

  • Shin, Chang-Rok;Kim, Jang-Seob;Park, Jong-Hyeon;Yoo, Hong-Hee
    • Proceedings of the KSME Conference
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    • 2008.11a
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    • pp.882-887
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    • 2008
  • In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

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