• Journal of Korean Society of Transportation
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• v.27 no.1
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• pp.107-114
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• 2009

Human walking is essential and important mean of transportation. Pedestrian safety is recently important because accidents often happen while walking. This research is showing that Walking-environmental factors have effect on safety while walking. At first, exact 15 factors and conduct survey in the preceding research. After that, exact 4 important factors through factor analysis. At result of Multiple regression analysis, null hypothesis has proved to be true by satisfying therms which is F-value 9.211 and P-value 0.000. and come to the conclusion that walking-environmental factors influence pedestrian safety. 4 important factors can be listed by below. Pedestrian-road characteristic, landscape characteristic, commercial characteristic, walking characteristics by following influence. Especially, landscape characteristic and pedestrian-road characteristic can be vital factors.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.5
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• pp.1070-1075
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• 2013

In this research, we describe a security robot system and ongoing research results to control human's wrong direction in order to forbid human to enter security zone. Proposed robot system surveils a security area with equipped laserscanner sensor usually. When it detect walking human who is for the area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto an scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.15-18
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.277-280
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• 2004

In the research of biomechanical engineering, robotics and neurophysiology, to clarify the mechanism of human bipedal walking is of major interest. It serves as a basis of developing several applications such as rehabilitation tools and humanoid robots Nevertheless, because of complexity of the neuronal system that Interacts with the body dynamics system to make walking movements, much is left unknown about the details of locomotion mechanism. Researchers were looking for the optimal model of the neuronal system by trials and errors. In this paper, we applied Genetic Programming to induce the model of the nervous system automatically and showed its effectiveness by simulating a human bipedal walking with the obtained model.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.267-267
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.09a
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• pp.117-124
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• 2003

Long span structures with low natural frequencies such as shopping malls, large offices, and assembly rooms may experience signification dynamic responses due to human activities. In this study, equations to estimate the magnitudes of group walking loads are derived and a simple procedure to estimate and evaluate the corresponding response of the existing and new building structures subjected to human loads is proposed. The effectiveness of the proposed method is verified analytically using a simple floor and experimentally on a footbridge measuring the structural response induced by group pedestrians. Results indicate that the amplitudes of group walking loads can be easily estimated if the mode shapes are available, and that the corresponding structural responses can be estimated easily by the simple response measurement using the proposed method.

• Steel and Composite Structures
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• v.30 no.6
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• pp.577-589
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• 2019

In this study, on-site testing was carried out to investigate the vibration performance of a composite steel-bar truss slab with steel girder system. Ambient vibration was performed to capture the primary vibration parameters (natural frequencies, damping ratios, and mode shapes). The composite floor possesses low frequency (< 10 Hz) and damping (< 2%). Based on experimental, theoretical, and numerical analyses on natural frequencies and mode shapes, the boundary condition of SCSC (i.e., two opposite edges simply-supported and the other two edges clamped) is deemed more reasonable for the composite floor. Walking excitations by one person (single excitation), two persons (dual excitation), and three persons (triple excitation) were considered to evaluate the vibration serviceability of the composite floor. The measured acceleration results show a satisfactory vibration perceptibility. For design convenience and safety, a crest factor ${\beta}_{rp}$ describing the ratio of peak acceleration to root-mean-square acceleration induced from the walking excitations is proposed. The comparisons of the modal parameters determined by ambient vibration and walking tests reveal the interaction effect between the human excitation and the composite floor.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1530-1534
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• 2004

This paper presents a novel bio-mimetic quadruped walking robot with a waist joint, which connects the front and the rear parts of the body. The new robot, called ELIRO-1(Eating LIzard RObot version 1), can bend its body while the legs is transferred, thereby increasing the stride and speed of the robot. The waist-jointed walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. We design the mechanical structure of the robot, which is small and light to have high movability and high degree of human friendship. In this paper, we describe characteristics of the waist joint and leg mechanism as well as the analysis using ADAMS to select appropriate actuators. In addition, a hardware and software of the controller of ELIRO-1 are described.