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Baek, In-Cheol;Shim, Jae-Hun
- Journal of the Korea Convergence Society
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- v.7 no.5
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- pp.51-57
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- 2016
The purpose of this study was to determine the effectiveness of the pelvic compression belt on the thickness of the erector spinae and multifidus during hip extension on quadruped position. Thirty male university students volunteered to participate in this study. The pelvic compression belt was positioned below the anterior superior iliac spines with the stabilizing pressure using elastic compression bands. Subjects were instructed to perform hip extension in quadruped position with and without applying the pelvic compression belt. The thickness of the erector spinae and multifidus was measured ultrasound during prone position, quadruped position without applying pelvic compression belt and quadruped position applying pelvic compression belt. Data were analyzed using repeated ANOVA. Muscle thickness of multifidus was significantly higher applying the pelvic compression belt than without applying the pelvic compression belt (p<.05). Muscle thickness of elector spinae was significantly higher applying the pelvic compression belt than without applying the pelvic compression belt (p<.05). Therefore, the research can contribute to the prescription and application of quadruped position exercises in clinical practices.
https://doi.org/10.15207/JKCS.2016.7.5.051 인용 PDF KSCI

Sun, Eun-Hey;Kim, Yong-Tae
- Journal of the Korean Institute of Intelligent Systems
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- v.26 no.3
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- pp.169-175
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- 2016
There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.
https://doi.org/10.5391/JKIIS.2016.26.3.169 인용 PDF KSCI

Kim, Guk-Hwa;Choi, Yoon-Ho;Park, Jin-Bae
- Journal of the Korean Institute of Intelligent Systems
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- v.22 no.5
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- pp.617-623
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- 2012
In this paper, we propose a gait generation method for a quadruped robot to walk efficiently on the slope, which uses the waist joint of a quadruped robot. We derive the kinematic model of a quadruped robot with waist joint using the Denavit-Hartenberg representation method and the algebraic method. In addition, the gaits are generated based on the wave gait. In the proposed gait generation method, first in order to alleviate the mechanical restriction and the reduction of the stride, we determine the appropriate waist joint angle according to the slope degree, and then decide the location of the tiptoe of a quadruped robot by exploring the workspace. Finally, through computer simulations, we verify the effectiveness and applicability of the proposed method.
https://doi.org/10.5391/JKIIS.2012.22.5.617 인용 PDF KSCI