• 제어로봇시스템학회논문지
• /
• 제13권5호
• /
• pp.399-405
• /
• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

• 소성∙가공
• /
• 제24권3호
• /
• pp.167-175
• /
• 2015

In the current study, the design methodology has been developed to produce shoe mold for a suitable walking shoes of the general Korean using ANN (Artificial Neural Network). To design the suitable and comfortable shoes for the Korean, the shapes of foots were measured for 513 people. In this research, the foot length, breadth and ankle were considered as design parameters. In order to find the optimal foot shape for the average value of design parameters, the average value of design parameters and the other measurements were used as input and output to the ANN. After training, the various foot measurements were predicted by ANN. Base on the ANN results, the walking shoes were manufactured by considering these measurements and designing a shoe mold. From the results, the proposed method could give a more systematic and feasible means for manufacturing walking shoes with greater usefulness and better generality.

• 한국감성과학회:학술대회논문집
• /
• 한국감성과학회 2000년도 춘계 학술대회 및 국제 감성공학 심포지움 논문집 Proceeding of the 2000 Spring Conference of KOSES and International Sensibility Ergonomics Symposium
• /
• pp.328-329
• /
• 2000

A viscosity resistance control method of the intelligent prosthetic legs is studied using an optimal control theory. The simulated results suggests that it is important to control the viscosity of the prosthetic knee joint in one period of walking to improve the usability. In this paper we describe modeling of the thigh prosthetic legs, optimal control and simulated results.

• 한국산업정보학회논문지
• /
• 제25권3호
• /
• pp.31-38
• /
• 2020

본 논문에서는 시각장애인을 위한 이동보조시스템을 비교 분석하고, 6개의 장애물 감지 특징을 정리한다. 전통적으로, 시각장애인은 흰 지팡이를 사용하거나 안내견과 함께 보행한다. 최근 IoT 기술의 발달로 시각장애인의 보행을 보조하는 스마트 이동보조시스템이 개발되었다. 이러한 스마트 이동보조시스템은 장애물을 감지하고, 경로를 안내하는 역할을 수행해야 한다. 특히 스마트 이동보조 시스템은 장애물인지 판단하고, 햅틱 피드백을 통해 장애물 정보를 제공한다. 그리고 스마트 시스템은 서버를 구성하여 장애물의 정보를 저장하고, 다른 사용자에게 정보를 공유한다. 또한 저장된 장애물 정보를 통해 사용자 중심의 최적의 경로를 생성하여 시각장애인에게 장애물을 회피할 수 있는 경로를 안내한다. 스마트 이동보조시스템은 기계학습과 인공지능 기술을 적용함으로써 더욱 빠르게 발전할 것이다.

• 대한교통학회지
• /
• 제23권3호
• /
• pp.149-159
• /
• 2005

버스서비스권역의 결정은 버스서비스체계를 계획하는 단계에서 가장 우선적으로 고려되어야한다. 이용자의 출발지 또는 목적지에서 이용이 가능한 버스정류장이 있는가의 문제는 버스서비스 선택가능성에 결정적인 영향을 미치기 때문이다. 버스서비스 이용 자체가 불가능할 경우, 다른 서비스 질적 측면의 구성요소의 개선은 해당서비스를 선택하는데 전혀 영향을 주지 못한다. 따라서 버스서비스권역은 이용자의 출발지 또는 목적지로부터 합리적인 도보거리 또는 일정 도보시간으로 결정되어져야한다. 계획단계에서 버스서비스권역을 좀더 현실적으로 결정하기 위해서는 이용자의 속성이 고려되어야한다. 따라서 본 연구에서는 1) 이용자 속성에 따른 한계도보시간의 차이를 조사 분석하고, 2) 이용자 속성을 고려한 버스서비스권역 결정모형을 유도하였다. 본 연구에서는 버스서비스권역 결정모형을 1) 이용자 속성을 무시하는 경우 2) 이용자 연령을 고려하는 경우. 그리고 3) 이용자 수입을 고려하는 경우로 구분하여 유도하였으며, 이를 통해 어떤 지역에서 목표 버스이용자수를 확보할 수 있는 버스정류장의 간격을 결정하기 위한 산정과정을 예제로 제시하였다. 본 연구에서 제시된 버스서비스권역 결정모형은 계획가가 어떤 지역의 버스서비스 계획단계 또는 개선단계에서 최적 버스정류장 간격을 채택하는데 활용될 수 있다.

• 한국전문물리치료학회지
• /
• 제26권1호
• /
• pp.1-7
• /
• 2019

Background: The Microsoft Kinect which is a low-cost gaming device has been studied as a promise clinical gait analysis tool having satisfactory reliability and validity. However, its accuracy is only guaranteed when it is properly positioned in front of a subject. Objects: The purpose of this study was to identify the error when the Kinect was positioned at a $45^{\circ}$ angle to the longitudinal walking plane compare with those when the Kinect was positioned in front of a subject. Methods: Sixteen healthy adults performed two testing sessions consisting of walking toward and $45^{\circ}$ obliquely the Kinect. Spatiotemporal outcome measures related to stride length, stride time, step length, step time and walking speed were examined. To assess the error between Kinect and 3D motion analysis systems, mean absolute errors (MAE) were determined and compared. Results: MAE of stride length, stride time, step time and walking speed when the Kinect set in front of subjects were investigated as .36, .04, .20 and .32 respectively. MAE of those when the Kinect placed obliquely were investigated as .67, .09, .37, and .58 respectively. There were significant differences in spatiotemporal outcomes between the two conditions. Conclusion: Based on our study experience, positioning the Kinect directly in front of the person walking towards it provides the optimal spatiotemporal data. Therefore, we concluded that the Kinect should be placed carefully and adequately in clinical settings.

• 제어로봇시스템학회논문지
• /
• 제8권2호
• /
• pp.142-150
• /
• 2002

This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.

• Safety and Health at Work
• /
• 제9권1호
• /
• pp.17-24
• /
• 2018

Background: Increasing the slip resistance of floor surfaces would be desirable, but there is a lack of evidence on whether traction properties are linearly correlated with the topographic features of the floor surfaces or what scales of surface roughness are required to effectively control the slipperiness of floors. Objective: This study expands on earlier findings on the effects of floor surface finishes against slip resistance performance and determines the operative ranges of floor surface roughness for optimal slip resistance controls under different risk levels of walking environments. Methods: Dynamic friction tests were conducted among three shoes and nine floor specimens under wet and oily environments and compared with a soapy environment. Results: The test results showed the significant effects of floor surface roughness on slip resistance performance against all the lubricated environments. Compared with the floor-type effect, the shoe-type effect on slip resistance performance was insignificant against the highly polluted environments. The study outcomes also indicated that the oily environment required rougher surface finishes than the wet and soapy ones in their lower boundary ranges of floor surface roughness. Conclusion: The results of this study with previous findings confirm that floor surface finishes require different levels of surface coarseness for different types of environmental conditions to effectively manage slippery walking environments. Collected data on operative ranges of floor surface roughness seem to be a valuable tool to develop practical design information and standards for floor surface finishes to efficiently prevent pedestrian fall incidents.

• 한국융합학회논문지
• /
• 제11권5호
• /
• pp.175-182
• /
• 2020

계단 보행 시 로봇의 최적 궤도 계산은 유전자 알고리즘과 계산 토크 컨트롤러를 사용하여 수행되었다. 첫째, 생식, 교배, 돌연변이로 이루어진 실시간 유전 알고리즘 (RCGA)을 사용하여 총 에너지 효율이 최소화되었다. 보폭의 시작과 끝, 그리고 조인트, 각도, 각속도 위치 어셈블리 관련 재현성 조건은 선형 제약이다. 다음은 고르지 못한 제약은 코너 스윙 다리와 계단의 외부와의 충돌을 막기 위한 조건, 운동 학적 특이성을 막기 위한 무릎 관절의 조건 및 진행 방향의 안전은 보장되지 않음 이란 조건을 따른다. 마지막으로, 각 관절의 각도 궤도는 염색체를 근사 계수를 가지는 4차 다항식에 의해 정의된다. 이것은 보통 도보를 의미한다. 이 연구에서는 최적의 궤도의 에너지 효율을 7개의 링크로 구성된 7자유도의 2족 로봇을 통한 컴퓨터 시뮬레이션을 통해 분석했다.

• 한국의류산업학회지
• /
• 제21권3호
• /
• pp.300-307
• /
• 2019

This study develops a user centered outdoor jacket capable of energy harvesting based on consumer needs. Jackets are designed for typical outdoor activities such as hiking, trekking, and climbing, integrated with an energy harvesting module that can generate electric power from arm swing in outdoor and daily life walking. Textile based energy generators developed by the previous research of Lee & Roh (2018) were used. A prototype was created based on the arm swing motion experiment for location options and energy harvesting system functions, the simulation by the design sketch, and evaluation of the wearing test by experts. In-depth interviews were later conducted for the prototype with 10 outdoor experts to derive the optimal location of an energy harvesting system in three ways, and the prototype was revised to 5 styles that reflected reviews by experts on function and appearance. Research indicated that the energy harvesting jacket design signifies a user-centered design based on expert interviews and usability evaluation as well as previous research on energy generation and storage device. The jacket is convenient because it combines an energy generator in an optimal position to maximize energy generation with a storage and charging device that can be inserted into various position options for accessibility.