• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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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.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.2
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• pp.329-338
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• 1994

This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.16-24
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• 2006

In this paper, fault-tolerant gait planning of a hexapod robot for walking over irregular terrain is presented. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. Based on the previously proposed fault-tolerant tripod gait for walking over even terrain, fault-tolerant follow-the-leader(FTL) gaits are proposed for a hexapod robot with a failed leg to be able to walk over two-dimensional rough terrain, maintaining static stability and fault tolerance. The proposed FTL gait can have maximum stride length for a given foot position of a failed leg, and yields better ditch crossing ability than the previously developed gaits. The applicability of the proposed FTL gait is verified by using computer graphics simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.75-78
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• 1987

This paper presents a control algorithm of servo controller for a quadruped walking robot as well as its characteristics and requirements. The control algorithm for propelling and terrain adaptive motion is described. The servo controller is being developed as a sub-project of the national project - "Development of a quadruped walking robot ". And then, this paper focuses on an overview of the current state and future works of this sub-project.b-project.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.1007-1013
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• 1989

This paper describes the procedure of kinmatic design of a quadruped walking machine which has better mobility and higher energy efficiency than the wheeled or tracked vehicles on the rough terrain. Specifically, this paper puts much emphasis on the procedure and its rationality of the design of the leg which is the key mechanical element of the walking robot. And it shows the appropriateness of the selected mechanism and the design method through the walking experiment of the prototype machine built upon the resulted design. The pantograph mechanisms are proved to be acceptable as the leg of the walking machine from the experiment even though it is indicated that the walking speed and the body deflection should be improved further. This paper also describes the problems of the realization of the gait the frictional effects along with their causes in the walking experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1087-1092
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• 1990

This paper describes the development and control of a quadruped walking robot, named as KAISER-II. The control system with multiprocessor based hierachical structure is developed. In order to navigate autonomously on a rough terrain, an identification algorithm for robot's position is proposed using 3-D vision and guide-mark pattern Also, a simple attitude control algorithm is included using force sensors. Through experimental results, it is shown that the robot can not only walk statically on even terrain but also cross over or go through the artificially made obstacles such as stairs, horizontal bar and tunnel-typed one.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.131-136
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• 1988

In this paper we describe a motion control algorithm for a 4-legged robot over slopped terrain and steps. The new concept of the mechanically constrained angle has been introduced and the algorithm has been developed based on the relationship between the gait stability margin and the slope angle. The result then has been extended to the case where the robot walks over steps.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.467-470
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• 1990

This thesis presents a simple heuristic algorithm which can be applied. to a quadruped wafting vehicle for increasing the terrain adaptability. The proposed method controls a leg length which is in tranfer phase to maintain initial orientation of the robot body by using FSR type force sensors attached to foot-tips. Also, some basic experiments using the vehicle are performed to demonstrate the effectiveness of the algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.72-81
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• 2009

The purpose of this paper is to accomplish the stable humanoid robot walking on the soft terrains. The goal of the humanoid robot development is to make the robotic system perform some tasks in human living environment. However, human dwelling environments are very different from those of laboratories, where varied experiments are performed by the robot. In many cases, the ground is soft or elastic unlike the floor of a laboratory. When a robot walks on the soft ground, the sole of robot contacts the uneven ground. This results in unstable walking or walking may be impossible according to the degree of softness. Therefore, the algorithm that facilitates stable walking on the soft ground surface is required. In this paper, we suggest an algorithm that controls the ankle to help the robot walk stably on the soft ground using the humanoid robot (ISHURO-II) as a real model. A humanoid robot walking on the soft ground was simulated to verify that the proposed algorithm results in stable walking.