• 한국정밀공학회지
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• 제26권6호
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• pp.59-67
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• 2009

This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제6권5호
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• pp.536-542
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• 2000

본 논문은 제스춰를 이용하여 3차원 인체 모델의 동작을 지시하고 생성하는 시각 스크립트 언어를 제안한다. 인체와 같은 다관절체의 동작 생성을 위해서는 일반적으로 많은 세부적 작업과 전문성을 요구한다. 그러나 동작의 추상적 의미 전달을 통한 동작 생성이 가능하다면 동작 생성을 위한 작업량의 감소와 더불어 동작 시나리오 작성이 보다 용이할 것이다. 본 논문에서 제시하는 시각 스크립트는 실생활에서 손짓을 이용한 제스춰로 의미를 전달하는 것처럼 동작의 종류와 방향, 경로 등을 지시학 위해서 마우스 드래깅으로 입력되는 궤적이다. 따라서 시각 스크립트를 이용하면 동작의 의미적 기술이 가능하며 동작 경로 등의 공간적 속성을 시각적으로 부여할 수 있다. 그리고 동작 대상이 되는 신체 부위나 드래킹 속도 등의 제약 조건을 이용하여 동일한 형태의 시각 스크립트로도 다양한 인체 동작을 지시할 수 있도록 하였다. 이러한 시각 스크립트를 이용한 인체 동작 제어 시스템의 구현을 통해서 보다 직관적인 시각 제스춰를 통한 동작 제어가 가능함을 보인다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1996년도 Proceedings International Workshop on New Video Media Technology
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• pp.45-49
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• 1996

This paper describes algorithms for the method to generate motions automatically. There are many efforts to generate motions with assistance from computers. But almost of these are methods for generating motions from scratch using computers - generally called "Computer Generated Animation". We propose a method called "Computer Aided Animation" which is a tool to help in animator generating motions. Many motions in cartoonized animation are included with impossible motions for human. Animation makes these motions based on knowledge of experimental techniques. The method in this paper works like a filter in the field of image processing. We call this method "Motion Filter". Motion Filter accepts captured motions from motion capture system and translate these motions to emphasized-cartoonized-motions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.490-493
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• 1996

This paper presents a control scheme for the motion of a 2 DOF robot manipulator. Robot manipulators are multivariable nonlinear systems. Fuzzy logic is avaliable human-like control without complex mathematical operation and is suitable to nonlinear system control. In this paper, Implementation of fuzzy logic control of robotic manipulators shows. Algorithm has been performed with simulation packages MATRIXx and SystemBuild.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1922-1927
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• 2005

This paper describes the mechanism of a new biped machine capable of doing human-robot cooperation work. The biped machine, WABIAN-2 is made of two seven degrees of freedom (DOF) legs, a two DOF waist and no DOF trunk. Its leg system consists of two three DOF ankles, two one DOF knees and two three DOF hips to deal with various walk motions. Its height is about 1.2[m], and its weight is 40[kg]. It is designed with large movable range as a human. Also, a knee stretch walk pattern generation for the biped machine to perform natural walk like a human is discussed in this paper. Its leg motion is compensated by using the motion of its waist. Basic knee stretch walk experiments using WABIAN-2 are conducted on the plane, and the validity of its mechanism and walk pattern generator is verified.

• 센서학회지
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• 제13권3호
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• pp.188-194
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• 2004

With a remarkable advance in CMOS (complimentary metal-oxide-semiconductor) process technology, a variety of vision sensors with signal processing circuits for complicated functions are actively being developed. Especially, as the principles of signal processing in human retina have been revealed, a series of vision chips imitating human retina have been reported. Human retina is able to detect the edge and motion of an object effectively. The edge detection among the several functions of the retina is accomplished by the cells called photoreceptor, horizontal cell and bipolar cell. We designed a CMOS vision chip by modeling cells of the retina as hardwares involved in edge and motion detection. The designed vision chip was fabricated using $0.6{\mu}m$ CMOS process and the characteristics were measured. Having reliable output characteristics, this chip can be used at the input stage for many applications, like targe tracking system, fingerprint recognition system, human-friendly robot system and etc.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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• pp.2120-2123
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• 2003

This paper presents the moving object detection and tracking algorithm using edge information base on human perceptual system The human visual system recognizes shapes and objects easily and rapidly. It's believed that perceptual organization plays on important role in human perception. It presents edge model(GCS) base on extracted feature by perceptual organization principal and extract edge information by definition of the edge model. Through such human perception system I have introduced the technique in which the computers would recognize the moving object from the edge information just like humans would recognize the moving object precisely.

• 한국정보통신학회논문지
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• 제16권4호
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• pp.872-878
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• 2012

본 논문은 사람 팔의 움직임 감지 시스템을 제안한다. 기존의 모션측정 장비들은 고가이거나 혹은 특수한 장소가 따로 필요하였다. 또한 측정한 데이터들을 필요한 데이터로 변환하는 추가적인 시간도 필요하였다. 본 논문에서는 사람이 입을 수 있으며 가격이 매우 저렴하고 추가적인 데이터 변환이 필요 없는 시스템을 개발 하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3092-3094
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• 1999

This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.

• 한국운동역학회지
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• 제17권2호
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• pp.217-226
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• 2007

Putting score counts about 43 % of the golf score. The dominant idea of the putting motion to amateur golfers as well as to many professional golfers is a pendulum-like motion. If a golfer's putting stroke motion is a pendulum-like motion, the putting motion should be straight-back-and-through, the same backswing, downswing, and follow through length and period, and a swing with a fixed hinge joint. If the putting motions of the human are different from the pendulum motion, there could be confusion in understanding and teaching golf putting. The purpose of this study was to examine the center of rotation(COR) of the putter head to reveal whether professional golfers really putt like a pendulum. Thirteen male professional golfers were recruited for the study. Each golfers executed 10.94 m putts six times on an artificial grass mat. Putter head position data were collected through a 60 Hz three-dimensional motion analysis system and low pass filtered with cut-off frequency of 6 Hz. COR of the putter head was mathematically acquired. Each golfer's last five putting motions were considered. The results show that the COR of the putter head was neither fixed nor located inside of the golfer. The medio-lateral directional component of the COR of the putter head fluctuated in the range of 10 cm during downswing and follow through. The anterior-posterior directional component of the COR of the putter head was fixed from the beginning of the downswing through impact. Just after impact, however, it moved to the target up to 60 cm. The superior-inferior directional component of COR of the putter head moved in a superior direction with the beginning of the downswing and showed peak height just prior to impact. During the follow through, it moved back in an inferior direction. The height-normalized peak value of the COR of the putter head was $1.4{\pm}0.3$ height. Technically speaking, male professional golfers' 10.94 m putting motion is not a pendulum-like motion. The dominating idea of a pendulum-like motion in putting might come from the image of the flawless, smooth motion of a pendulum.