• 전자공학회논문지 IE
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• v.43 no.4
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• pp.52-59
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• 2006

Walking robot is able to move in regular or irregular terrain. It can walk that change adaptive algorithms according to the terrain. Existing papers about adaptive gaits of blind robot are based on intelligent foothold selection. However, this paper proposes a algerian that is based on the variations of stroke and period to adapt the irregular terrain. If thus adaptive algorithms is used, robot can maintain periodic gait walking and constant speed using only force sensor even in the irregular terrain without external sophisticated sensor. In this paper Quadruped robot with 2 DOF in each leg, is walk experiment with the wave gait in regular and irregular terrain. So the adaptive algorithm is proved useful through walk experiment.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.47-55
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• 2009

In this study, a robot foot having toes for firm stepping on uneven surface is proposed. The toes are connected to the lower leg by parallel links so that the lower leg can rotate in the rolling and pitching directions during stance phase without ankle joint. The landing performance of the foot on uneven surface was evaluated by relative comparison with that of the most common foot making point contact with the walking surface, since the test conditions considering real uneven surface could be hardly defined for its objective evaluation. Anti-slip margin(ASM) was defined in this study to express the slip resistance of a robot foot when it lands on a projection with half circular-, triangular- or rectangular cross section, assuming that uneven surface consists of projections having these kind of cross sections in different sizes. Based on the ASM analysis, the slip conditions for the two feet were experimentally confirmed. The results showed that the slip resistance of the new foot is not only higher than that of the conventional point contact type foot but also less sensitive to the surface friction coefficient.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.1 s.173
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• pp.118-123
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• 2000

Most quadruped walking robots under current research are individually controlling every joint ic make them step or walk according to an integrated strategy. Such methods are characterized by at least one pair of an actuator and a sensor installed per each 'oint so that the robots weigh execssively and move inefficiently in terms of energy expenditure. In addition, the task of controlling all the joints simultaneously is quite complex and prone to destabilize the robot motion. These respects keep the existing walking robots away from realistic applications such as transportation even if they have potentially, outstanding adaptability to swamps or uneven terrains as opposed to wheeled vehicles. So, this paper presents a new conceptual quadruped robot developed to walk and steer only with a minimal number of actuators owing to a closed-chain mechanism. To prove its actual performance including the adaptability to various types of terrains. experiments are done with the mammal-type prototype. And. it is also shown that the same concept can be easily extended to carry out different gait forms. for instance, that of spiders only with minor modifications.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.69-73
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• 1987

In this paper the continuous static stable gait, kinematics and the basic control algorithm of the quadruped walking robot have been discussed. The control method described in this paper will be extended for the walking robot to walk on an uneven terrain.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.467-470
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• 1990

This thesis presents a simple heuristic algorithm which can be applied. to a quadruped wafting vehicle for increasing the terrain adaptability. The proposed method controls a leg length which is in tranfer phase to maintain initial orientation of the robot body by using FSR type force sensors attached to foot-tips. Also, some basic experiments using the vehicle are performed to demonstrate the effectiveness of the algorithm.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.327-331
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• 2006

본 논문은 엔터테인먼트 4족 보행로봇에 관한 것으로 24개의 자유도와 비접촉온도 3축 모션, 터치, 음성인식, CCD 카메라와 IR 센서를 내포하고 있다. 4족 보행로봇을 비평탄지형에서 안정되게 보행시키기 위한 알고리즘과 원격지에서 로봇을 제어하기 위한 알고리즘을 제안한다. 제안한 보행안정화 알고리즘은 다양한 센서들을 이용하여 불확실한 환경 하에서 안정된 보행이 되도록 하였으며, PC 상의 GUI와 음성인식 시스템을 이용하여 로봇을 무선으로 원격제어하게 하였다. 개발한 4족 보행로봇의 실험을 통하여 제안한 알고리즘을 검증하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.569-579
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• 2013

Robot control and image processing using a smartphone and Wi-Fi communication is introduced. The robot has a wheel and quadruped mechanism that is transformed according to the environment and is mainly used for drug bottle delivery. The captured image on the camera is transmitted to the smartphone in the form of stream data, and the image data is processed in the smartphone to enable the robot to identify an object and to control the robot itself. A network was constructed so that only image data from the stream data was used, and an image processing scheme to identify the drug bottle and deliver it to a person using a robot arm is also presented. In this study, image processing techniques and algorithms were purely implemented on a smartphone with considerable computational power and multiple functions rather than a computer, which contributes to the intelligence and miniaturization of the robot system.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.5
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• pp.603-609
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• 2010

This paper introduces an objects recognition algorithm based on SURF(Speeded Up Robust Features) and GP(Genetic Programming) based gaits generation. Combining both methods, a recognition based intelligent walking for quadruped robots is proposed. The gait of quadruped robots is generated by means of symbolic regression for each joint trajectories using GP. A position and size of target object are recognized by SURF which enables high speed feature extraction, and then the distance to the object is calculated. Experiments for objects recognition and autonomous walking for quadruped robots are executed for ODE based Webots simulation and real robot.