• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.112-121
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• 2005

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• Journal of KIISE:Software and Applications
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• v.41 no.8
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• pp.586-597
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• 2014

The next generation mobile computing technology is recently attracting attention that smartphone and wearable device imbedded with various sensors are being deployed in the world. Existing activity and posture recognition research can be divided into two different ways considering feature of one's movement. While activity recognition focuses on catching distinct pattern according to continuous movement, posture recognition focuses on sudden change of posture and body orientation. There is a lack of research constructing a system mixing two separate patterns which could be applied in real world. In this paper, we propose a method to use both smartphone and wearable device to recognize activity and posture in the same time. To use smartphone and wearable sensor data together, we designed a pre-processing method and constructed recognition model mixing signal vector magnitude and orientation pattern features of vertical and horizontal. We considered cycling, fast/slow walking and running activities, and postures such as standing, sitting, and laying down. We confirmed the performance and validity by experiment, and proved the feasibility in real world.