• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.69-73
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• 1987

In this paper the continuous static stable gait, kinematics and the basic control algorithm of the quadruped walking robot have been discussed. The control method described in this paper will be extended for the walking robot to walk on an uneven terrain.

• 한국운동역학회지
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• 제16권2호
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• pp.85-95
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• 2006

The purpose of this study of which 10 University students in their twenties are the objects was to examine the causal differences of kinematic and electromyography during power walking and normal gait. We came to the following conclusions. 1) It took less time to stance phase, swing phase and whole gait time during power walking compared with normal gait. 2) During power walking, the step length and step length and lower limb length are longer than that of normal gait. 3) During power walking, ankle joint angle became more plantar flexed at LIC and RTO, knee joint angle become more flexed, so did hip joint angle at LIC and RTO. Besides during power walking the shoulder joint angle movement was bigger and elbow joint angle was more flexed as the trait of power walking. 4) During power walking, through out the phase the muscle activity of all muscle was higher expecially the muscle activity of Biceps brachii, gastrocnemius medialis, gastrocnemius lateralis, Soleus was higher. Therefore during power walking, one's scope of activity and muscle activity is relatively higher than those of normal gait, so power walking helps one strengthen muscular power and energy metabolism. This will be useful information for those who are interested in diet and well-being.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.446-452
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• 2002

This paper Presents a 3-D design and a Vibration control of a new walking R.G.O.(Robotic Gait Orthosis) and would like to develop a simulation by this walking system. The vibration control and evaluation of the new knee joint mechanism on the biped walking R.G.O.(Robotic Gait Orthosis) was a very unique system and was to obtain by the 3-axis accelerometer with a low frequency vibration for the paraplegia It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking R.G.O.. The new knee joint system of both legs were adopted with a good kinematic characteristics. It was designed attached a DC-srevo motor and controller, with a human wear type. It was able to accomodate itself to a environments of S.C.I. Patients. It will be expect that the spinal cord injury patients are able to recover effectively by a new walking R.G.O. system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.639-644
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• 2003

An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1991년도 추계학술대회 논문집
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• pp.146-154
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• 1991

As the application of robotic systems expand its scope, more research efforts are given in providing mobility to the robotic systems so that they can travel across various paths including those with formidable obstacles such as stairways or rough terrains. Legged locomotion is mainly concerned because the walking motion, like that of animal behavior, has many advantages over wheel type or track type locomotion especially in rough terrain. Walking robot, in general, having a discrete number of legs, have inherently low static stability. Static stability can be increased to a certain degree, by improving walking method, but it has many limitations such as reduced travel speed. A very promising possibility lies in the use of balancing weight, nevertheless its actual implementation is very rare. In this study, a 4-legged walking machine is developed and the static stability margin is increased with the balancing weight. In the future, this robot will be used to take an experiment on the walking in mush terrain.

• 로봇학회논문지
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• 제1권2호
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• pp.197-202
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• 2006

We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.136-141
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• 2002

This paper presents a design and a control of a biped walking RGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new AGO type with servo motors. The gait of a biped walking RGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking RGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking AGO-robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.238-243
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• 2002

This paper presents a design and a control of a biped walking AGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a biped walking AGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking AGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking RGO-robot.

• 사물인터넷융복합논문지
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• 제4권2호
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• pp.7-11
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• 2018

본 논문에서는 기구학을 이용한 이족보행 로봇의 보행패턴 생성방법을 살펴본다. 2족 보행로봇이 3차원 공간상에서 모든 동작 및 보행이 가능하기 위해 필요한 자유도는 각 다리별로 6자유도이다. 따라서 본 논문에서는 로봇의 보행을 위해 간략화된 보행로봇의 구조를 살펴보고 발목의 경로를 설정한 후 기구학을 이용하여 조인트 각도를 파악하여 생성한다. 또한 로봇의 기구 해석을 위해 한쪽 다리의 조인트들에 대해 좌표계를 설정하였다. 조인트 각도를 역기구학을 이용하면 로봇의 보행 패턴을 생성할 수 있다. 최종적으로 발목의 궤적 설정과 이를 통한 보행 패턴 생성 과정을 살펴보기로 한다.