• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.5
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• pp.683-689
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• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

• Transactions of Materials Processing
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• v.24 no.3
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• pp.167-175
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• 2015

In the current study, the design methodology has been developed to produce shoe mold for a suitable walking shoes of the general Korean using ANN (Artificial Neural Network). To design the suitable and comfortable shoes for the Korean, the shapes of foots were measured for 513 people. In this research, the foot length, breadth and ankle were considered as design parameters. In order to find the optimal foot shape for the average value of design parameters, the average value of design parameters and the other measurements were used as input and output to the ANN. After training, the various foot measurements were predicted by ANN. Base on the ANN results, the walking shoes were manufactured by considering these measurements and designing a shoe mold. From the results, the proposed method could give a more systematic and feasible means for manufacturing walking shoes with greater usefulness and better generality.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.10
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• pp.89-94
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• 2012

This research is to apply the control of neuron networks for the real-time walking control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of walking control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. This paper proposes a new mode to implement a neural network controller by installing a real object for controlling and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The proposed control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• Korean Journal of Health Education and Promotion
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• v.24 no.3
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• pp.73-86
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• 2007

Objective: The purposes of this study are to understand the characteristics of the participants in a community walking campaign and to analyze the factors related to their participation based on the Transtheoretical Model (TTM). Methods: The study composed of the description of participant characteristics and comparison of them with non-participant characteristics in a walking campaign in K province. The data were collected through a survey of 2,590 participants and 258 non-participants from the same community. The survey instrument included questions about stages of walking and exercise, knowledge and attitude toward walking, and environmental condition for walking. Results: A majority of the walking campaign participants were in the action(24.8%) and maintenance(43.6%) stages of walking and exercise behavior. The non-participant group was split between maintenance(51.6%) and precontemplation (30.6%) stages. Among the participants, effective campaign promotion channels differed by age group while motivation for participation and participation patterns were associated with both age and gender. Favorable physical environment was a significant factor of participating in walking campaign(OR=1.396, CI=1.149-1.696). Although the campaign participants scored higher than the non-participants in most attitude toward walking questions, differences in knowledge scores between two groups were less significant. Conclusion: In conclusion, further social marketing to increase the awareness and to increase the concern of population in the community is needed based on the survey result. Transtheoretical model seems appropriate to apply to the evaluation and the planning the program of the behavior change in the community. Also, more organized and sustainable support in need to maintain the good habit of walking for the participants in walking campaign.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.2-134
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• 2001

This paper treats the implementation of a statically stable control system for a biped walking robot with 10 degrees-of-freedom. Statically stable walking of a biped robot can be realized by keeping the center of mass (COM) inside the sole of the supporting foot (or feet) during single-support or double-support phases. We predetermined five static positions for walking based on the COM method. The positions can be represented by the length of the gait, the width between the feet, the height of the foot and two parameters in the hip movement. With the five parameters, we calculated the position trajectory. And we got the angular trajectories of 10 joints from the posit ion trajectory using the position tracking control and neural network. By tracking the angular trajectories, the robot can walk maintaining stability. We implemented walking of a biped robot throught the above ...

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.4
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• pp.1-12
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• 2020

In this study, the effect of the social distance maintenance and pedestrian route system was analyzed for Seoul Station, one of the multi use facilities according to the COVID-19 pandemic. For analysis, the Seoul Station pedestrian network was established through the survey of the number of passengers and CAD floor plan. A pedestrian that maintaining Social Distance was implemented using the Social Force Model. Based on this, scenario analysis was proceed. As a result, when the walking line system was installed the average walking speed decreased compared to the current situation. but the average density was analyzed that maintain the walking level of service (LOS)'C', this mean walking line system is effective, and the effect of the walking line system was proved. It can be used as a pedestrian simulation model.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.11
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• pp.23-32
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• 2018

The purpose of this study is to establish a walking energy weighted ERAM model that can predict the pedestrian volume by the connection structure of the vertical and horizontal spaces within a three-dimensional building. The process of building a walking-energy weighted ERAM model is as follows. First, the spatial graph was used to reproduce three-dimensional buildings with vertical and horizontal spatial connection structures. Second, the walking energy was measured on the spatial graph. Third, ERAM model was used to apply weights with spatial connection properties in random walking environment, and the walking energy weights were applied to the ERAM model to calculate the walk energy weighted ERAM values and visualize the distribution of pedestrian flow. To verify the validation of the established model, existing and proposed spatial analysis models were compared to real space. The results of this study are as follows : The model proposed in this study showed as much elaborated estimation of pedestrian traffic flow in real space as in traditional spatial analysis models, and also it showed much higher level of forecasting pedestrian traffic flow in real space than existing models.

• Journal of IKEEE
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• v.16 no.3
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• Journal of agricultural medicine and community health
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• v.46 no.2
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• pp.98-108
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• 2021

Objectives: This study aimed to describe the current public programs for community walking in Korea and to discuss their challenges. Method: We identified the literature related to community walking including five laws, 22 white papers from government departments and 84 program reports from the Seoul Metropolitan Government. Results: Korean law guarantees legal rights and validity to create safe, convenient and equitable environments for community walking. The government department, which has jurisdiction over legislation relating to community walking, has dominated community walking programs, and the role of public health department has been insufficient. Almost all sectors in the department of Seoul Metropolitan Government were involved in community walking programs. However, inter-sectoral cooperation system for community walking was insufficient. Conclusion: It is necessary to revise the condolences of the National Health Promotion Act to establish the role and perspective of public health in community walking promotion. Institutional efforts should be made to expand the network structure between sectors of community walking programs by establishing an organizational, budget, and performance sharing system for inter-sectoral approach.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.233-240
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• 2006

This paper presents the robust control method using a self recurrent wavelet neural network (SRWNN) via adaptive backstepping design technique for stable walking of biped robots with unknown model uncertainties. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the biped robots. The adaptation laws for weights of the SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Computer simulations of a five-link biped robot with unknown model uncertainties verify the validity of the proposed control system.