• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.311-314
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• 1995

Biped locomotion can be simply modeled as a linear inverted pendulum mode. This model considers only the CG (center of gravity) of the entire system. But in real biped robot systems, the free-leg motion dynamics is not negligible. So if its dynamics is not considered in designing the reference CG motion, it is badly influence to the ZMP(zero moment point) position of the biped robot walking in the sagittal plane. Therefore, we modeled the biped locomotion similar to the linear inverted pendulum mode but considered the predetermined free-leg dynamics. To verify that the proposed biped locomotion is more stable than the linear inverted pendulum mode, we constructed a biped robot simulator and designed a serco controller to track both the reference motion of the free leg and the reference motion of CG of the biped robot using the computed torque control low. And through simulations, we verified that the proposed walking is better in stability than the one based on the linear inverted pendulum mode.

• ETRI Journal
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• v.36 no.1
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• pp.99-105
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• 2014

This paper presents a new locomotion mode recognition method based on a transformed correlation feature analysis using an electromyography (EMG) pattern. Each movement is recognized using six weighted subcorrelation filters, which are applied to the correlation feature analysis through the use of six time-domain features. The proposed method has a high recognition rate because it reflects the importance of the different features according to the movements and thereby enables one to recognize real-time EMG patterns, owing to the rapid execution of the correlation feature analysis. The experiment results show that the discriminating power of the proposed method is 85.89% (${\pm}2.5$) when walking on a level surface, 96.47% (${\pm}0.9$) when going up stairs, and 96.37% (${\pm}1.3$) when going down stairs for given normal movement data. This makes its accuracy and stability better than that found for the principal component analysis and linear discriminant analysis methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1014-1022
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• 2009

A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.

• Journal of IKEEE
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• v.26 no.2
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• pp.249-256
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• 2022

The prosthetic leg is a device that performs walking instead of a amputated lower limb, and require a change in locomotion mode by providing the user's intention to respond to a discontinuous locomotion environment. Research has been conducted to detect the users' intentions through biomechanical features inside the socket that directly contacts the cut site in demand for natural locomotion mode changes without external control equipment. However, there is still a need for a sensor system that is suitable for the internal environment of the main body and socket of the cut site. Accordingly, this paper proposed a film-type sensor system that is suitable for the main body characteristics of the cut site, is not affected by the temperature and humidity conditions inside the socket, and is easy to manufacture in various sizes. The proposed sensor is manufactured base on Velostat film and takes into account the pressure measurement characteristics that vary with size. Through the experiment, the change in the internal pressure of the socket due to the intentional posture performance of the wearer was measured, and the possibility of detecting the intention to change the locomotion mode was confirmed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.683-693
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• 2010

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

• The Research Journal of the Costume Culture
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• v.22 no.1
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• pp.99-111
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• 2014

This study looked into the scarcity effect based on the consumers' self-regulatory modes and determined the effect that such a regulatory mode and that quantity-scarcity messages would have on evaluations of fashion products. To that end, the study used a 2 (regulatory mode: assessment mode/locomotion mode)${\times}2$ (message type: quantity-scarcity message/non-scarcity message) between-subjects factorial design in which buying impulsiveness was presented as a mediator variable that showed differences in product evaluations depending on the message type and on the presence of a self-regulatory mode. The results of this study showed that locomotion-oriented consumers evaluated products more positively compared to assessment-oriented consumers when the quantity-scarcity message was presented. When a non-scarcity message was presented, no significant difference was observed in product evaluations based on the consumers' self-regulatory modes. In addition, buying impulsiveness in consumers served a mediator role in the evaluations of fashion products. The results of this study imply that a clear understanding of consumers is a prerequisite for maximizing the scarcity effect and that companies need to differentiate in terms of the way they use scarcity messages based on consumers' self-regulatory modes.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2211-2216
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• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• Asia Marketing Journal
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• v.12 no.2
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• pp.83-110
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• 2010

Dissatisfied customers may express their dissatisfaction behaviorally. These behavioral responses may impact the firms' profitability. How do we model the impact of self regulatory orientation on emotions and subsequent customer behaviors? Obviously, the positive and negative emotions experienced in these situations will influence the overall degree of satisfaction or dissatisfaction with the service(Zeelenberg and Pieters 1999). Most likely, these specific emotions will also partly determine the subsequent behavior in relation to the service and service provider, such as the likelihood of complaining, the degree to which customers will switch or repurchase, and the extent of word of mouth communication they will engage in(Zeelenberg and Pieters 2004). This study investigates the antecedents, consequences of negative consumption emotion and the moderate effect of attribution processing in an integrated model(self regulatory mode → specific emotions → behavioral responses). We focused on the fact that regret and disappointment have effects on consumer behavior. Especially, There are essentially two approaches in this research: the valence based approach and the specific emotions approach. The authors indicate theoretically and show empirically that it matters to distinguish these approaches in services research. and The present studies examined the influence of two regulatory mode concerns(Locomotion orientation and Assessment orientation) with making comparisons on experiencing post decisional regret and disappointment(Pierro, Kruglanski, and Higgins 2006; Pierro et al. 2008). When contemplating a decision with a negative outcome, it was predicted that high (vs low) locomotion would induce more disappointment than regret, whereas high (vs low) assessment would induce more regret than disappointment. The validity of the measurement scales was also confirmed by evaluations provided by the participating respondents and an independent advisory panel; samples provided recommendations throughout the primary, exploratory phases of the study. The resulting goodness of fit statistics were RMR or RMSEA of 0.05, GFI and AGFI greater than 0.9, and a chi-square with a 175.11. The indicators of the each constructs were very good measures of variables and had high convergent validity as evidenced by the reliability with a more than 0.9. Some items were deleted leaving those that reflected the cognitive dimension of importance rather than the dimension. The indicators were very good measures and had convergent validity as evidenced by the reliability of 0.9. These results for all constructs indicate the measurement fits the sample data well and is adequate for use. The scale for each factor was set by fixing the factor loading to one of its indicator variables and then applying the maximum likelihood estimation method. The results of the analysis showed that directions of the effects in the model are ultimately supported by the theory underpinning the causal linkages of the model. This research proposed 6 hypotheses on 6 latent variables and tested through structural equation modeling. 6 alternative measurements were compared through statistical significance test of the paths of research model and the overall fitting level of structural equation model and the result was successful. Also, Locomotion orientation more positively influences disappointment when internal attribution is high than low and Assessment orientation more positively influences regret when external attribution is high than low. In sum, The results of our studies suggest that assessment and locomotion concerns, both as chronic individual predispositions and as situationally induced states, influence the amount of people's experienced regret and disappointment. These findings contribute to our understanding of regulatory mode, regret, and disappointment. In previous studies of regulatory mode, relatively little attention has been paid to the post actional evaluative phase of self regulation. The present findings indicate that assessment concerns and locomotion concerns are clearly distinct in this phase, with individuals higher in assessment delving more into possible alternatives to past actions and individuals higher in locomotion engaging less in such reflective thought. What this suggests is that, separate from decreasing the amount of counterfactual thinking per se, individuals with locomotion concerns want to move on, to get on with it. Regret is about the past and not the future. Thus, individuals with locomotion concerns are less likely to experience regret. The results supported our predictions. We discuss the implications of these findings for the nature of regret and disappointment from the perspective of their relation to regulatory mode. Also, self regulatory mode and the specific emotions(disappointment and regret) were assessed and their influence on customers' behavioral responses(inaction, word of mouth) was examined, using a sample of 275 customers. It was found that emotions have a direct impact on behavior over and above the effects of negative emotions and customer behavior. Hence, We argue against incorporating emotions such as regret and disappointment into a specific response measure and in favor of a specific emotions approach on self regulation. Implications for services marketing practice and theory are discussed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.767-772
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• 2011

Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.

• Human Ecology Research
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• v.53 no.5
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• pp.543-556
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• 2015

This study examined the influence of self-regulatory resource depletion and self-regulatory modes on fashion product purchase intention. Initial research design dealt with differences of the resource depletion effect according to self-regulatory modes. The study used a 2 (self-regulatory resource depletion: depletion/non-depletion) ${\times}$ 2 (regulatory mode: assessment mode/locomotion mode) between-subjects factorial design. Second, the research design empirically analyzed the influence of self-regulatory resource depletion and self-regulatory mode on the fashion product purchase intention by each product group divided by type and involvement of fashion product. The subjects for the initial research were 255 university students in Seoul, Gyeonggi, and Daejeon. The subjects for the second research were 873 university students in Seoul and Daejeon. Collected data were analyzed with SPSS statistical package with reliability analysis, t -test, analysis of variance (ANOVA), and analysis of covariance (ANCOVA). The results were as follows. First, assessment-oriented consumers showed low purchase intentions about fashion products when self-regulatory resources were exhausted than when self-regulatory resource were not exhausted. Locomotion-oriented consumers, indicated no differences in purchase intention about fashion products regardless of self-regulatory resource depletion. Second, influences on purchase intention by self-regulatory resource depletion and self-regulatory mode were different according to the fashion product group. The results of this study implied that strategies should be differentiated when establishing a fashion industry marketing strategy according to the self-regulatory resource depletion and self-regulatory mode of consumers.