• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.501-505
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• 1998

In this paper, an LP problem with convex polyhedral objective coefficients is treated. In the problem, the interactivities of the uncertain objective coefficients are represented by a bounded convex polyhedron (a convex polytope). We develop a computation algorithm of a maxmin achievement rate solution. To solve the problem, first, we introduce the relaxation procedure. In the algorithm, a sub-problem, a bilevel programing problem, should be solved. To solve the sub-problem, we develop a solution method based on a branch and bound method. As a result, it is shown that the problem can be solved by the repetitional use of the simplex method.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.37 no.3
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• pp.114-122
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• 2000

This paper proposes a classification method using an amorphous Prototype to minimize classification error caused by such fixed-Prototype-based methods as Fuzzy C-Means, Nearest Neighborring Classification, FMMCNN, and Fuzzy-ART. For this method, a new fuzzy neural network is introduced, in which a convex polytope is generated or adaptively reshaped to classify the given datum into a proper group. Thus, this method contains a function to classify sequential data set. To show the validity of this method, various numerical experiments including comparison results with FMMCNN are presented

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.34.3-34
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• 2001

The design method of H$\infty$ filter for discrete-time uncertain linear systems with multiple state delays is investigated. The uncertain parameters are assumed to be unknown but belonging to known convex compact set of polytope type less conservative than norm bounded parameter uncertainty. The modified H$\infty$ performance measure is introduced to consider the initial states values which affect the performance of filter. The objective is to design a stable H$\infty$ filter guaranteeing asymptotic stability of filtering error dynamics and minimizing H$\infty$ norm bound. The sufficient condition for the existence of filter and the filter design method are established by LMI (linear matrix inequality) approach.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.