• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.4
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• pp.731-736
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• 2023

Walking is a periodic motion that contains specific phases and is a basic movement method for humans. Through gait analysis, various musculoskeletal health conditions can be identified. In this study, we propose a calf wearable sensor system that can perform gait analysis without space limitations. Using a ToF(: Time-of-Flight) sensor that measures distance and an IMU(: Inertial Measurement Unit) sensor that measures inclination the heel trajectory of walking was derived by proposed method. In case of abnormal gait with risk of fall, gait is evaluated by analyzing the change pattern of the heel trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.536-539
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• 1997

This paper presents a three dimensional modeling and a trajectory generation for minimized impact walking of the biped robot. Inverse dynamic analysis and forward dynamic analysis are performed considering impact force between the foot and ground for determining the actuator capacity and for simulating the proposed biped walking robot. Double support phase walking is considered for close to human's with adding the kinematic constraints on the one of the single support phase.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.151-155
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• 1996

In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.

• CDE review
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• v.22 no.2
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• pp.6-10
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• 2016

This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.

• PNF and Movement
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• v.12 no.2
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• pp.89-96
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• 2014

Purpose: The purpose of this study was to examine the influence of foot angles on plantar pressure and the center of pressure (COP) trajectory length during level walking. Methods: The study subjects were 30 female university students without orthopedic diseases in the foot. The foot angle was divided into three forms (out-toeing, normal, in-toeing). The subjects practiced each type of gait, and then performed each of level walking, three times, and their averages were calculated. A plantar pressure measurement instrument was used, and the maximum force was obtained by dividing the foot into nine regions covering the anterior medial-lateral, middle medial-lateral, and posterior medial-lateral. The COP trajectory length was statistically processed by obtaining medial-lateral, anterior-posterior, and entire travel distance. Results: During normal walking, the maximum force was significantly higher in the anterior lateral than in the other areas, and the COP trajectory length was significantly shorter in the front-back and entire travel distances (p<0.05). During stair climbing. Conclusion: Walking at abnormal foot angles does not cause appreciable problems in the short term as pressure is concentrated on a specific plantar part. However, it becomes the cause of deformed foot structures and can result in musculoskeletal disabilities in the long term. Therefore, a kinesiatrics-based intervention is required to maintain normal foot angles.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.969-976
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• 1999

This paper is concerned with the generation of a balancing trajectory for improving the walking performance. The balancing motion has been determined by solving a second -order differential equation. However, this method caused some difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed method i this paper is based on the genetic algorithm for minimizing the motins of balancing joints, whose trajectories are generated by the fifth-order polynomial interpolation after planning leg trajectories. The real walking experiments are made on the biped robot IWR-III, developed by our Automatic Control Laboratory. The system has 8 degrees of freedom and the structure of three pitches in each leg, and one roll and one prismatic joint in the balancing joints. The experimental result shows the validity and applicability of the new proposed algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.315-318
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• 1995

In this paper, an optimal trunk trajectory for stable walking of biped robots is expressed as a simple differential equation, which is then solved by numerical methods. We used ZMP (Zero Moment Point), the virtual total ground reaction point within the region of the supporting food, as the criterion of stability of biped robot walking. If the ZMP is located outside of the stable region in dynamic walking, biped robots fall down. The biped robot considered in this paper consists of two legs and a trunk. The trajectories of the two legs and the ZMP of the biped robot are determined such that they are similar ti those of a human. Based upon those trajectories, the trunk trajectory is solved by numerically integrating differential dynamic equations. Leg motions are controlled by the computed torque control method. The effectiveness of control algorithm as well as the trajectories is confirmed by computer simulations.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.304-306
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• 2001

This paper presents the obstacle avoidance of a biped walking robot using GA-Fuzzy algorithm. In the case of our previous studies the surface has been assumed to be flat. For the case of the environment with obstacles, however, the walking robot might be unnatural. Thus, we considered the surface contained obstacles that the robot can pass through. We propose the optimal leg trajectory data-base by using genetic algorithm and optimal leg trajectory movement about obstacles that exist in front of the robot using fuzzy approach. It is shown that the robot can move more naturally on the surface that contains obstacles.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.95-97
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• 2005

This paper deals with the implementation of walking for a humanoid robot by ZMP measurement using wireless sensor network. ZMP is measured by FSR sensors which are mounted at each corner of a sole. The wireless sensor network collects the sensor data according and exchanges robot information between host PC and a robot system. The master controller mounted on robot body receives trajectory data from the host PC via sensor network and drives the joint motor based on trajectory data. The time scheduler of the master controller controls the events at the ratio of 100ms. With this configuration, the walking of the humanoid robot KHR-1 could be realized successfully.