• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• 한국지능시스템학회논문지
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• 제22권5호
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• pp.617-623
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• 2012

본 논문에서는 4족 로봇의 허리 관절을 이용하여 효율적인 경사면 보행을 위한 걸음새 생성 방법을 제안한다. 허리 관절을 갖는 4족 로봇의 기구학적 모델은 Denavit-Hartenberg 표현 방법과 대수적 방법을 이용하여 유도하고, 다리 이동 순서는 물결 걸음새(wave gait)를 사용한다. 한편 제안한 걸음새 생성 방법에서는 기구적 제한과 보폭의 감소를 완화하기 위해 경사면의 경사도에 따라 적절한 상체 및 하체의 허리 관절각을 결정하고, 에너지 안정도 여유(energy stability margin)를 증가시키기 위해 도달 영역(workspace)의 탐색을 통해 발끝 위치를 결정한다. 마지막으로, 컴퓨터 모의 실험을 통해 본 논문에서 제안한 알고리듬의 효용성 및 실제 적용 가능성을 검증한다.

• 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.

• 대한의용생체공학회:의공학회지
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• 제28권3호
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• pp.377-386
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• 2007

Mechanical loading to bone cells using simple sine wave or constant wave fluid flow has been widely used for in vitro experiments. Human gait is characterized by a complex loading to bones of lower extremities which results from a series of events consisting of heel strike, foot flat and push-off during the stance phase of the gait cycle. Telemetric force analyses have shown that human femora are subject to multiphasic loading. Therefore, it would be ideal if the physiologic loading conditions during human walking can be used for in vitro mechanotransduction studies. Here, for a mechanotransduction study, we develop it fluid flow system (FFS) in order to simulate human physiologic mechanicalloading on bone cells. The development methods of the FFS including the COR (Center for Orthopedic Research), monitor program are presented. The FFS could generate various multiphasic loading conditions of human gaits with output flow. Wall shear distribution was very uniform, with 81 % of the effective loading area of the culture on a glass slide. Our results demonstrated that the FFS, provide a new translational approach for unveiling molecular mechanotransduction pathways in bone cells.

• 한국전자통신학회논문지
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• 제10권3호
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• pp.395-402
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• 2015

본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 정적 계단 보행 시 계단과의 충돌 제약이 없는 효율적인 걸음새 궤적 생성 방법을 제안한다. 우선 4족 로봇의 순기구학 및 역기구학 모델을 각기 대수학적 방법과 기하학적 방법으로 유도한다. 제안한 방법에서는 보행 시작 위치에서 수직 상승 후 사인 파형의 계단 보행 궤적을 생성하고, 계단과의 충돌을 피하기 위한 보행 궤적의 계수를 설정한다. 또한 안정적인 계단 보행을 위한 걸음새 순서를 결정한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 제안한 계단 보행 방법의 효용성 및 실제 적용 가능성을 검증한다.

• 한국지능시스템학회논문지
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• 제23권5호
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• pp.466-472
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• 2013

본 논문에서는 4족 로봇의 허리 관절을 이용하여 보행시 발생하는 몸체의 흔들림을 최소화하는 걸음새 방법을 제안한다. 제안한 방법에서는 4족 로봇의 기하학적 모델을 이용하여 몸체의 기울기에 따른 몸체의 힙(hip) 좌표를 계산하고, 이를 2자유도(Digree of Freedom: DOF)를 갖는 허리 관절을 이용하여 4족 로봇의 무게중심(Center of Gravity: CoG)을 이동시킴으로써 몸체의 흔들림을 최소화한다. 이 때, 로봇의 걸음새는 물결 걸음새(wave gate)를 이용하여 보행한다. 마지막으로, 4족 보행 로봇의 모의 실험을 통해 기존 방법과 비교함으로써 본 논문에서 제안한 방법의 효용성을 검증한다.

• PNF and Movement
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• 제22권1호
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• pp.139-149
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• 2024

Purpose: This study aimed to investigate the effects of gradually increasing treadmill inclination on the electroencephalogram (EEG) of stroke patients during gait training. Methods: Three stroke patients who were diagnosed with stroke within six months and capable of walking on a treadmill were selected as subjects. EEG electrodes were attached at Fp1, Fp2, F3, F4, C3, C4, P3, and P4 positions of the cerebral hemispheres using the International 10-20 system. The intervention involved walking for 2 minutes each at 0 degrees, 15 degrees, and 30 degrees inclination on the treadmill while focusing on a target point located in front during the treadmill gait training. The EEG (Smartingmobi, Serbia) generated when the treadmill gradient gradually increased was measured. In addition, relative alpha and relative beta waves were visualized through the Brain mapping program in the TeleScan program to assess the changes in each brain region for the activity of the EEG. Results: The relative alpha wave value decreased as treadmill inclination increased, while the relative beta wave value increased. Conclusion: Gradually increasing the inclination during treadmill gait training appears to be a crucial parameter for increasing the brain activity levels of stroke patients.

• 한국지능시스템학회논문지
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• 제22권3호
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• pp.305-311
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• 2012

본 논문에서는 4족 로봇 몸체의 xz-축 스웨이(sway)를 이용하여 4족 로봇의 몸체 흔들림을 최소로 하고 안정도 여유를 최대로 하는 걸음새 생성 방법을 제안한다. 제안한 방법에서는 물결 걸음새(wave gait)를 기반으로 생성하고, 안정도 판별은 움직이는 다리의 높이 변화량과 4족 로봇의 몸체 기울기 정보를 이용한다. 이 때, 4족 로봇의 보행 시 z-축 스웨이로 인한 몸체의 충격을 줄이기 위해 푸리에 급수(Fourier series)를 이용하여 다리의 유연한 이동 궤적을 생성한다. 마지막으로, 본 논문에서 제안한 알고리듬의 실제 적용 가능성 및 효용성을 검증하기 위해 모의 실험 및 4족 로봇의 실제 보행 실험을 수행하여 제안한 방법의 보행 성능을 검증한다.

• 대한전기학회논문지
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• 제43권2호
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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.