• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• 전기학회논문지P
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• 제56권4호
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• pp.161-167
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• 2007

This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controller(using INTEL80C296SA MPU), sub controller(using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D.O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each, two arms of five D.O.F. each, a waist of two D.O.F., a head of one D.O.F.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• 한국생산제조학회지
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• 제24권5호
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• pp.548-552
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• 2015

In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

• 한국정밀공학회지
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• 제19권12호
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• 동서간호학연구지
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• 제10권1호
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• pp.41-52
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• 2004

Purpose: The purpose of this research was to compare the effects of Danjeon Breathing exercise and walking exercise on blood lipids, physical symptoms and hemoglobin of middle-aged women to determine which of these two exercises was more beneficial. Methods: The Danjeon breathing exercise group(20) took health management counseling and performed an eighty-minute Danjeon breathing exercise three times a week for 12 weeks while the walking exercise group(25) took health management counseling and performed a walking exercise seven hours per week for 12 weeks. The control group(20) received only health management counseling. The groups were homogeneous on age, religion, marital status, education, profession, monthly income per household, menopause, smoking, drinking, fat intake and cholesterol intake. Likewise, the groups were homogeneous on total cholesterol, HDL-cholesterol,atherogenic index, hemoglobin and physical symptoms. The collected data were analyzed by using the SPSS PC program and $x^2$-test, ANOVA, repeated measures of ANOVA and LSD. Results: 1. Total cholesterol of the Danjeon breathing exercise group and the walking exercise group were lower than that of the control group. 2. HDL- cholesterol of the Danjeon breathing exercise group and the walking exercise group were not higher than that of the control group. 3. Atherogenic index of the Danjeon breathing exercise group was lower than that of the control group, but atherogenic index of the walking exercise group was not lower than that of the control group. 4. Hemoglobin of the Danjeon breathing exercise group and the walking exercise group were not higher than that of the control group. 5. Physical symptom score of the Danjeon breathing exercise group was lower than those of the walking exercise group and the control group, but Physical symptom score of the walking exercise group was not lower than that of the control group. Conclusion: Danjeon breathing exercise and walking exercise are effective for decreasing total cholesterol of middle-aged women. Danjeon breathing exercise is more effective for decreasing atherogenic index and physical symptoms of middle-aged women than walking exercise.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.397-397
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• 2000

This paper presents a gait control scheme for teleoperation of a quadruped-walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of a moving trajectory. When the direction of the velocity command is changed, the periodic gait is not available because this requires an initial foot position . This paper proposes the aperiodic gait control scheme that can converge to a periodic gait Simulation results are given to demonstrate the efficiency of the proposed control scheme.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.307-314
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• 2006

In this paper, we present a comprehensive study for the development of quadruped walking robot. To understand the walking posture of a tetrapod animal, we begin with a careful observation on the skeletal system of tertapod animals. From taking a side view of their skeletal system, it is noted that their fore limbs and hind limbs perform characteristic roles during walking. Moreover, the widths of footprints and energy efficiency in walking have a close relationship through taking a front view of their walking posture. According to these observations, we present a control method where the kinematical solutions are not necessary because we develop a new rhythmic gait pattern for the quadruped walking robot. Though the proposed control method and rhythmic pattern are simple, they can provide the suitable motion planning for the robot since the resultant movement is based on the animal's movements. The validity of the proposed idea is demonstrated through dynamic simulations.

• 성인간호학회지
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• 제20권4호
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• pp.561-572
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• 2008

Purpose: To examine the effects of power walking exercise on fatigue and overweight in college students with Taeumin constitution. Methods: According to results of the constitution diagnosis (QSCC II), 58 students who were identified as Taeumin, whose BMI was over 23 were assigned to one of three groups. The power walking group walked fast at a speed of 7,000 steps per hour using a pedometer, and the walking group walked at a speed of 5,000 steps per hour. There was no treatment with control group. Each group's fatigue level, blood lipids and body composition before and after the experiment were compared and analyzed. Results: Total fatigue and total cholesterol decreased significantly in the power walking group compared to the walking group and the control group. Weight decreased significantly in the power walking group compared to the control group, and percentage of body fat decreased significantly in both the power walking group and the walking group compared to the control group. Conclusion: When power walking exercise was used with overweight Taeumin students, fatigue, blood lipid, weight and percentage of body fat decreased significantly.