• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.936-941
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• 2014

Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.1
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• pp.39-51
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• 2016

In accordance to rapid aging of population, the accidents of elderly pedestrian and pedestrian safety are becoming very important issues. In terms of smartphone technologies, older people are increasingly looking for useful and friendly ICT services that which can add a value on their silver life. This paper introduced a new IT-based service for elderly walking assist using a smart-phone accompanied by a wearable watch. We describe the functional requirements and a systems architecture model with an interface between a smart-phone and wearable watch. Moreover, this study attempted to verify what services are needed and to estimate elderly pedestrians' WTP (willingness to pay) for IT-based walking assistance device. A total of 189 elderly pedestrians were randomly surveyed through face-to-face interviews. The questionnaire consisted of 3 categories: (1) questions pertaining to socio-economic status, (2) 12 questions regarding walking attitudes, and (3) a question to measure WTP. With this gathered data, factor analysis and path model estimating were conducted. The results identified the elderly user requirements and the use-value of new innovative products for IT-based walking assistance services by two groups(latent elderly and elderly). The modeling result shows that elderly's service preference would increase the possibilities for the commercialization of IT-based walking device with improving their walking safety.

• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.888-891
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• 2005

In this paper, the prototype of a walking guide robot with tactile display is introduced, and the psychophysical experiment of the tactile recognition for a tactile display is carried out and analyzed. The objective of this research is the development of a walking guide robot for the blind to walk safely. A walking guide robot consists of a guide vehicle and a tactile display device. A guide vehicle, located in the front of the walking blind, detects the obstacle using ultrasonic sensors and offers the information of position and walking direction acquired from GPS module to the walking blind by voice. The tactile display device, located in the handle which is connected with the guide vehicle by cane, offers the processed obstacle information such as position, size, moving, shape of obstacle and safe path, etc. The psychophysical experiments for the threshold of perception and recognition ability of tactile stimulation are carried out by the estimation of the subject group. As a result the appropriate tactile stimulus intensity and frequency to recognize tactile stimulation effectively are discussed and derived.

• Journal of the Korean Institute of Rural Architecture
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• v.23 no.1
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• pp.35-42
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• 2021

This study analyzed the path that affects the user's walking satisfaction on main street in four local government towns in Jeollanam-do. and as an empirical study to find the direction of improvement toward the main street from the perspective of walking, the results are as follows. First, it was found that the network had a direct (+) effect on walking satisfaction as a main street. In addition, it was analyzed that land use had no direct (+) effect on walking satisfaction on the main street, but had a direct (+) effect on the network. Second, it was analyzed from the fact that the walking environment does not have a direct (+) effect on walking satisfaction, but has a direct (+) effect on the network. and it was analyzed that the street-building relationship had a direct (+) effect on the street landscape, and the street landscape had a direct (+) effect on the walking environment. The study was completed by suggesting implications according to the above research results.

• Journal of the Korean Society of Safety
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• v.30 no.6
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• pp.139-147
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• 2015

This study deals with actual commuting distance and influence of risk factors depending on commuting distance and mode in order to reestablish actual commuting zone of primary school students. Data mining analysis(CHAID) was applied for this reestablishment using survey results from 6,927 primary school students in Seoul Metro. Six risk factors; convenience level of commuting path condition, convenience level of road crossing condition, vehicle speed on commuting path, segregation level between commuter and vehicle, congestion level of commuting path, and public security level and two mode; walking and cycle are considered in the analysis. As the results of CHAID analysis, commuting distance was divided into four zones; Internal Zone(0.491km under), External Zone(0.492 ~ 1.492km, 1.493 ~ 2.699km), Commutable Zone(2.70km over), and awareness level on safety is declined as commuting distance is increased. The risk factor affecting on safety is recognized differently by students depending on commuting distance and mode. For students commuting by walking, vehicle speed on commuting path and convenience level of commuting path condition are recognized as the prime risk factor within Internal Zone and Commutable Zone, respectively. For students commuting by cycle, convenience level of road crossing condition and vehicle speed on commuting path are recognized as the prime risk factor within Commutable Zone. Analysis results show that improved plan and program for commuting path for primary school students are required considering actual commuting distance and method.

• Journal of the Korea Society of Computer and Information
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• v.22 no.2
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• pp.89-95
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• 2017

There are a variety of apps that are finding their way. And in car navigation, we launched a product that reflects Augmented Reality technology this year. However, existing apps have problems. It is implemented in 2D or 3D, has a large error range because it has been modified in most vehicles, is not updated in real time, and car augmented reality navigation is a vehicle, and a separate device is required, etc. In this study, we implemented a smartphone app for walking directions using augmented reality, and made it possible to intuitively use a route service from a user 's location to a destination. The Dijkstra algorithm is applied to calculate the shortest path to solve the problem of finding the route with the least cost. By using this application, it is possible to use the route search service even in a data-free environment, to solve the inconvenience of the language barrier, and to update in real time, so that the latest information can be always maintained. In the future, we want to develop an app that can be commercialized by using a character in the path to promote it.

• Journal of Korean Physical Therapy Science
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• v.26 no.2
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• pp.46-50
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• 2019

Background: The purpose of present study is to effect of arm swing on uphill road gait in healthy adults. Design: Cross-sectional study. Methods: This study was Participated in 15 healthy subjects. The subjects were allowed to walk uphill, about 10m from the line drawn on the floor. The subject stood at the starting line and started by pressing the start button with the signal "start", and I pressed Stop at the last incoming point. Walking with and without arm swing was measured twice in random draws. Results: Walking path with arm swing showed good results in walking path duration, cadence, speed, stride length, and Gait cycle duration rather than uphill walk without arm swing. Conclusion: As a results of this study, The arm swing is important in getting uphill.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.228-231
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• 2003

This paper presents the leg trajectory generation for the quadruped robot with genetic-fuzzy algorithm. To have the nobility even at uneven terrain, a robot is able to recognize obstacles, and generates moving path of body that can avoid obstacles. This robot should have its own avoidance algorithm against obstacles, forwarding to target without collision. During walking period, n robot recognizes obstacle from external environment with a PSD and some interface, and this obstacle information is converted into proper the body rotation angle by fuzzy inference engine. After this process, we can infer the walking direction and walking distance of body, and finally can generate the optimal Beg trajectory using genetic algorithm. All these methods are verified with PC simulation program, and implemented to SERO-V robot.