• 한국운동역학회지
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• 제22권1호
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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.

• 로봇학회논문지
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• 제2권4호
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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.

• 한국엔터테인먼트산업학회논문지
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• 제15권6호
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• pp.1-13
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• 2021

본 연구는 TV조선 오디션 프로그램 <내일은 미스터트롯> 방송 이후 트로트가 방송콘텐츠 시장에서 우월적 지위를 갖게 된 기제를 탐색했다. 트로트 오디션 프로그램이 기존의 오디션 프로그램과 어떤 차별화 및 대중화 전략을 취했는지 프로그램의 서사 구조를 분석하고, 음악 전문가 심층 인터뷰, 제작진의 인터뷰 기사 등을 분석했다. <미스터트롯>은 기존의 오디션 프로그램의 성공 전략을 뒤집는 방식의 전략으로 시청자들에게 어필했다. 먼저, 실력자/비실력자 참가자들이 서로 경쟁하는 게 아니라, 실력자/실력자가 대결을 펼치는 방식을 취했다. 오디션 프로그램의 주요 전략인 '진정성 담론'을 그동안 개인사를 통해 이뤄냈던 것과 달리, 이번 트로트 오디션에서는 가창 실력을 새로운 '진정성 담론'으로 설정하였다. 둘째, 오디션 프로그램이라면 필수적이라고 여겨졌던 '악마의 편집'을 탈피하고, 악역을 배제하는 전략을 취하고 쇼 연출에 주력했다. 셋째, 아이돌음악, 힙합, 밴드 등 특정 장르의 전문성을 보여야 한다고 여겨졌던 오디션 프로그램의 관행을 깨고 트로트를 다양한 장르와 접합시켰다. 넷째, 10대, 20대 혹은 남성, 여성 등 특정 세대나 성별을 주로 공략했던 이전 오디션 프로그램과 달리, 다양한 연령대를 공략해 시청층을 확대하는 전략을 구사했다. 다섯째, 시청자들의 흥미를 유발하고, 감정이입을 돕는 자막을 잘 활용한 '자막 전략'으로 중장년 팬덤을 형성해냈다.

• 한국운동역학회지
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• 제25권4호
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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.

• 한국음향학회지
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• 제39권6호
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• pp.622-628
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• 2020

본 논문은 순환 신경망(Recurrent Neural Network, RNN)으로 구성된 적대적 생성 신경망(Generative Adversarial Network, GAN) 모델을 사용하여 자동으로 트로트 음악을 생성하는 음악생성 기법을 제안한다. 제안된 방법은 음악의 뼈대를 담당하는 코드를 만들고, 만들어진 코드 열을 기반으로 멜로디와 베이스(bass)를 단계적으로 생성한 뒤, 해당 코드에 붙임으로써 구조화된 음악을 완성하는 방법을 사용한다. 또한 인트로나 벌스, 코러스 등과 같이 일정 구간으로 나뉘어 구조가 반복되는 트로트 가요의 특징을 적용하여 벌스의 코드 진행으로부터 새로운 코러스 코드 진행을 만들어내고, 다시 해당 코드로부터 멜로디와 베이스를 단계적으로 생성하여 초기에 만들어진 트로트의 길이를 확장한다. 주관적 평가와 객관적 평가방법을 사용하여 생성된 음악의 품질을 측정하였으며, 기존의 트로트가 갖고 있는 음악적 특성과 유사한 음악을 생성함으로 확인하였다.

• 제어로봇시스템학회논문지
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• 제19권7호
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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.

• 한국정보통신학회논문지
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• 제8권7호
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• pp.1418-1423
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• 2004

관절형 로봇은 바퀴구동로봇에 비해 인간과 비슷한 형태를 갖추고 있어 친화성이 높고 관절로 인하여 자유도가 높으며 접지점을 임의로 설정할 수 있다. 또한 접지위치와 본체와의 상대위치를 자유로이 설정할 수 있으며 관절을 매니플레이터로서 사용할 수도 있는 장점을 가지고 있다. 이에 반해 많은 자유도를 가지고 있어 기구가 복잡하고 이동속도가 바퀴구동로봇에 비해 늦으며 이동시 진동이 일어나기 쉽고 로봇이 넘어지지 않도록 하는 특별한 제어가 필요하게 된다. 많은 생물들의 기본다리인 4족형 구조는 동적안정을 유지하면서 이동을 계속할 수 있고, 또 보행중에도 기구적으로 쓰러짐을 회피할 수 있는 완전보행을 실현하는 최소한의 관절수로 구성되어 있는 보행형태이다. 이러한 보행실험을 위해 4족 보행로봇인 TITAN-VIII을 이용하여 Trot 보행 알고리즘을 연구하여 보행 실험을 행하였다.

• 대한기계학회논문집A
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• 제21권5호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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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.