• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• Journal of Internet of Things and Convergence
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• v.4 no.2
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• pp.7-11
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• 2018

In this paper, kinematic based walking pattern generation of biped walking robot is reviewed. Biped walking robot should be consisted of 6 Degree of Freedom(DOF) for each leg to walk properly in 3 dimensional circumstance. In this paper, simple structure of biped robot is depicted for walking pattern firstly. After fixing path of ankle of the robot, angle joints are coming from kinematic equatioins. Coordination of joints of a robot was set for dynamic analysis also. So walking pattern of a robot will be designed using dynamic equations of coordination of joint angles. Finally, setting of ankle of robot and pattern generation are key procedures of the robot walking.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.56-64
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• 2009

This paper presents a parallel typed walking robot which can walk in omni-direction and climb from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is conducted to maximize the walking space and the dexterity, which are normalized by the stroke of leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism and the lower leg mechanism and examine the gaits when the robot walks on the ground and climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that the triple parallel walking robot has a large walking space with a large stability region. We explore the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six steps proves that the robot can lift the foot up to the wall by combining the orientational walking space generated by three parallel mechanisms.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.82-90
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• 2008

In this paper, we introduce a biped walking robot which can do static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and is constructed by 22 RC servo motors. Before making an active algorithm, we generate the motions of robot with a motion simulator developed using C language. The two dimensional simulator is based on the inverse kinematics and D-H transform. The simulator implements various motions as we input the ankle's trajectory. Also the simulator is developed by applying the principle of inverted pendulum to acquisite the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle or pelvic when the robot lifts up its one side leg during the walking. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which is connected with laptop computer by serial cable.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.12a
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• pp.125-128
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• 2001

This paper explains the walking robot with 4 legs. One leg is composed of 4 dc server motors and have 4 d.o.f. This walking robot has simple structure using the principle of lever. The structure of robot models the 4 legs animal such as dog. The walking patterns is various and complex. With Inspecting the walking dogs, the walking motions implemented by patterns. The center of mass is important of this type robot. The significant issue of walking is weight. As the weight is lighter, so the robot well walks. The method of walking is patterns.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.358-364
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• 2007

Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.312-314
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• 2006

Researches on biped robot walking have been mostly focusing on walking on even surfaces. Therefore, robot walking has been only realized on pre-specified spaces with pre-specified movements according to the previous researches. In this paper a walking system for a biped robot using fuzzy system and neural networks to overcome those constraints. The system enables biped walking to be possible in various environments and with more complicated obstacels. For the purpose, a walking robot should recognize its surrounding environment and determine its movement. In the proposed system, a robot dynamically generates its walking trajectories of each joint by using neural networks when facing new obstacle such as stairs, and it maintains its walking stability by using closed loop fuzzy control system which manipulates the waist joints.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• 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.