• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.9
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• pp.1407-1412
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• 2013

The human gait pattern analysis shoes have been developed for our healthy lfe, which is largely dependent on a posture and a skeletal structure affected by daily lifestyle and gait pattern. There are generally 3 types of human gait, such as normal gait, intoeing gait, and outtoeing gait. We have analyzed one's gait pattern through walking put on the developed shoes.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.933-938
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• 2007

These days, up-to-date humanoid robots are continuously developed. Among them, Qrio, Asimo[1,2] are famous for its unique walking technology and natural movement. These robots could show manufacturers' technological improvement and leave a good impression to the customer. In accordance with global trends, Samsung is also producing humanoid robot. The humanoid robot, however, could walk like a human compared to the industrial robot fixed in the factory. This feature could cause another dynamic effect while walking. In this paper, the robot's feet were examined to find out parameters that affect stability of the humanoid robot's feet. With the sensitivity analysis, the optimization procedure in design of experiments finds the most suitable performance of robot. Maximum deflection of the frame upon various cases was minimized, and rubber coefficients for shock absorption were optimized.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.786-791
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• 2007

Statistical differences between men and women are investigated for a total of eleven joint motions during level walking. Human locomotion which exhibits nonlinear dynamical behaviors is quantified by the chaos analysis. Time series of joint motions was obtained from gait experiments with ten young males and ten young females. Body motions were captured using eight video cameras, and the corresponding angular displacements of the neck and the upper body and lower extremity were computed by motion analysis software. The maximal Lyapunov exponents for eleven joints were calculated from attractors constructed and then were analyzed statistically by one-way ANOVA test to find any difference between the genders. This study shows that sexual differences in joint motions were statistically significant at the shoulder, knee and hip joints.

• Journal of information and communication convergence engineering
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• v.6 no.3
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• pp.331-336
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• 2008

In this paper, we propose a real-time people tracking system with multiple CCD cameras for security inside the building. To achieve this goal, we present a method for 3D walking human tracking based on the IMPRESARIO framework incorporating cascaded classifiers into hypothesis evaluation. The efficiency of adaptive selection of cascaded classifiers has been also presented. The camera is mounted from the ceiling of the laboratory so that the image data of the passing people are fully overlapped. The implemented system recognizes people movement along various directions. To track people even when their images are partially overlapped, the proposed system estimates and tracks a bounding box enclosing each person in the tracking region. The approximated convex hull of each individual in the tracking area is obtained to provide more accurate tracking information. We have shown the improvement of reliability for likelihood calculation by using cascaded classifiers. Experimental results show that the proposed method can smoothly and effectively detect and track walking humans through environments such as dense forests.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.81.1-81
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• 2002

$\textbullet$ This paper presents a study on the development of a walking robot for an armor-stone work of the breakwater construction. The armor-stone work is putting stones about 0.3 ∼ 2m3 on the surface of the breakwater to prevent it from waving. $\textbullet$ This work has been done manually, and its process plan is uncertain by effects of the weather, wave and tide of sea. Therefore the constructional cost is considered to be wasteful $\textbullet$ Working in underwater as well as on land for human workers causes the accident and caisson disease, so it is necessary to replace the process to be mechanized. $\textbullet$ The basic requirements of the robot for mechanizing are as follows : 1) To have a large...

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.12
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• pp.111-116
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• 2019

With the recent acceleration of industrial technologies and active research, wearable robot technologies have been applied to various fields. To study the utility of wearable robots, basic research on kinetic mechanisms of the human body, bio-signal analysis, and system control are essential. In this study, we investigated the basic structure of a wearable system and the operating principles of a driving mechanism. The control system and supporting structure, which comprise the driving mechanism, were designed and manufactured. Motion and load analyses were performed simultaneously for the design of the kinematic drive, and the driving mechanism was constructed by analyzing walking motion. The operating conditions of the cylinder were verified by stride via driving experiments. Further, the accuracy and responsiveness of the system were confirmed by comparison with actual motion, and the system safety was validated by applying loads.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• The KIPS Transactions:PartD
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• v.18D no.2
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• pp.143-148
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• 2011

In this paper developed a wearable activity device and algorithm which can be converted into the real-time activity and monitoring by acquiring sensor row data to be occurred when a person is walking by using a tri-axial accelerometer. Test was proceeded at various step speeds such as slow walking, walking, fast walking, slow running, running and fast running, etc. for 36 minutes in accordance with the test protocol after wearing a metabolic test system(K4B2), Actical and the device developed in this study at the treadmill with 59 participants of subjects as its target. To measure the activity of human body, a regression equation estimating the Energy Expenditure(EE) was drawn by using data output from the accelerometer and information on subjects. As a result of experiment, the recognition rate of algorithm being proposed was shown the activity conversion algorithm was enhanced by 1.61% better than the performance of Actical.

• The KIPS Transactions:PartB
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• v.12B no.2 s.98
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• pp.157-166
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• 2005

In 3D virtual environment the description of character' s movement that has utilized the conventional key-frame technique is gradually being developed toward the application of motion control method to generate more realistic and natural motion. Even the motion control method, however, has the limitation for expression of character's motion adapted to the ground properties of virtual world. That is, the walking motions of character are not only, for the most part, so uniform simple and repeated often as to feel to be tedious, but also the unnatural motion in which the tips of the toes soak through a plane or float in the air discording with the conditions of terrain lowers the semblance of reality. This paper proposes an adaptive motion control method for human figure locomotion in virtual environments or games, in which the walking motion is dynamiccally adapted to the ground's sliding properties. We compute an optimal parameters for one cycle of walking motion adapted to the ground properties by combining the coefficient of friction and centripetal force, and therefrom we induce a set of nonskid speed corresponding to various sliding properties of the ground.