• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.10
• /
• pp.56-64
• /
• 2009

This paper presents a parallel typed walking robot which can walk in omni-direction and climb from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is conducted to maximize the walking space and the dexterity, which are normalized by the stroke of leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism and the lower leg mechanism and examine the gaits when the robot walks on the ground and climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that the triple parallel walking robot has a large walking space with a large stability region. We explore the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six steps proves that the robot can lift the foot up to the wall by combining the orientational walking space generated by three parallel mechanisms.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.32 no.4
• /
• pp.310-318
• /
• 2008

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

• Journal of the Korean Geographical Society
• /
• v.48 no.5
• /
• pp.728-749
• /
• 2013

When it comes to museumification, it has often been approached in terms of false history, placelessness or simulacra. However, this research aims at exploring the relation between the bodily-spatial performance of walking in the city and the museumification of urban space. For this, first it reviews theoretical discussions of walking as a bodily-spatial performance. Then, in the case of Daegu's Modern Street Tour and particularly focusing on the tour map, it looks at how the bodily performance of walking constructs the urban space of the tour as a museumified space. Finally, seeing the participants' blogs and other websites as another performative space, it examines how the bodily performance of walking reproduces the discourse and space of the tour in virtual space as well as in actual space. The study suggests the elusive assemblage of heterogeneous and multiple time-spaces immanent in urban space, which is different from the absolute and linear order of time-space in museum space.

• Journal of the Architectural Institute of Korea Planning & Design
• /
• v.34 no.6
• /
• pp.3-14
• /
• 2018

The aim of this study is to propose a method for calculating the weight of walking energy in ERAM model by calculating it for the analysis of vertical and horizontal spaces in a building. Conventional theories on the space analysis in the field of architectural planning predict the pedestrian volume of network spaces in urban street or in two-dimensional plane within a building, however, for vertical and horizontal spaces in a building, estimates of the pedestrian volume by those theories are limited. Because in the spatial syntax and ERAM model have been applied weights such as the spatial depth, adjacent angles, and physical distances available only to the two-dimensional same layer or plane. Therefore, the following basic assumptions and analysis conditions in this study were established for deriving a predictor of pedestrian volume in vertical and horizontal spaces of a building. The basic premise of space analysis is not to address the relationship between the pedestrian volume and the spatial structure itself but to the properties of spatial structure connection that human beings experience. The analysis conditions in three-dimensional spaces are as follows : 1) Measurement units should be standardized on the same scale, and 2) The connection characteristics between spaces should influence the accessibility of human beings. In this regard, a factor of walking energy has the attributes to analyze the connection of vertical and horizontal spaces and satisfies the analysis conditions presented in this study. This study has two implications. First, this study has shown how to quantitatively calculate the walking energy after a factor of walking energy was derived to predict the pedestrian volume in vertical and horizontal spaces. Second, the method of calculating the walking energy can be applied to the weights of the ERAM model, which provided the theoretical basis for future studies to predict the pedestrian volume of vertical and horizontal spaces in a building.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.3
• /
• pp.238-243
• /
• 2013

This paper analyzes a virtual work of the knee and hip joints of bipedal walking robots. For the purpose, we consider a model of bipedal leg mechanism with a compliant foot and a typical walking pattern. We also check the torque characteristics at the joint space propagated from the space of the foot contacting a flat and stiff surface, and present the works accumulated at the joint space. As a result, it is shown that this analysis is useful for evaluating the fatigue of the leg mechanism by the physical walking contact between the foot and the surface, and it is applicable for improving the compliant characteristics at the foot space by employing a proper footgear.

• Journal of the Korean housing association
• /
• v.22 no.2
• /
• pp.83-90
• /
• 2011

This research analyzes the residents' satisfaction for the pedestrian space of multi-family housing based on quality index. For this purpose, nine apartment complexes which were built after 2000, are selected and examined by user characteristics of composition factors of pedestrian space. This research also compares residents' satisfaction by evaluation factors of walking environment. The resident survey reveals that the composit type of apartment gives the highest satisfaction to residents followed by a courtyard type, and a straight type the last. In particular, residents show high satisfaction to pedestrian-only space in the case of the composit type of apartment building. The most important factor of walking environment on residential satisfaction is the separation of car and pedestrian path of main entrance. Above all, suitability of construction laws and regulations should be reviewed for safer and more amenable walking environment.

• Journal of the Korea Society of Computer and Information
• /
• v.28 no.10
• /
• pp.103-111
• /
• 2023

Mountains area, especially walking in open space is important for special active field which is based on mountain terrain. Recent research on pedestrian-path includes elements about pedestrian and various environment by analyzing network, but it is mainly focusing on limited space except for data-poor terrain like a mountain terrain. This paper proposes an architecture to generate walking path considering the slope for mountain terrain open space through virtual network made of mesh. This architecture shows that it reflects real terrain more effective when measuring distance using slope and is possible to generate mountain walking path using open space unlike other existing services, and is verified through the test. The proposed architecture is expected to utilize for pedestrian-path generation way considering mountain terrain open space in case of distress, mountain rescue and tactical training and so on.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.531-534
• /
• 2003

In this paper, the Intelligent Space (iSpace) concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical (fuzzy-neuro) description of obstacle avoidance method (walking habit) of moving objects (human beings) in a limited area scanned by the iSpace. A mobile robot with extended functions is introduced as a Mobile Assistant Robot which is assisted by the iSpace. The Mobile Assistant Robot (MAR) can guide and protect a blind person in a crowded environment with the help of the Intelligent Space. The prototype of the Mobile Assistant Robot and simulations of some basic types of obstacle avoidance method (walking habit) are presented.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.42 no.4
• /
• pp.581-590
• /
• 2022

It is important to create a decent pedestrian space in order to realize a public space that can ultimately improve the quality of life based on guaranteeing people's right to move while also enhancing urban activity. The goal of this study is to develop a pedestrian path evaluation system in order to lay the foundation for data construction leading to the creation of such elegant walking space. First, a basic system was established in keeping with factors and the space, and this system was used as the basic framework of the study. The trends identified in the literature can be divided into eight categories, denoted here as: Walking safety policy, Walking focused plan, Recognition transition, Transportaion system, Activity-linked walking, Facility utilization walking, Nature and history linked walking and Content convergence walking. The macro- and micro-indices and factors mentioned in related studies were synthesized and classified, and the basis for universality and differentiation was established by integrating them. Next, according to the basic composition of the walking system, Walking potential and slope safety in the Safety category, Basic walking connectivity and Traffic linkage in the Efficiency category, Walking arrangement and Rest convenience in the Health category, and Resource connectivity and Activity abundance in the Comfortability category macro evaluation system of the eight categories were established and a corresponding measurement method was developed.

• Proceeding of EDISON Challenge
• /
• 2016.03a
• /
• pp.481-484
• /
• 2016

Jansen mechanism is basic principal of walking robot. Because that mechanism have many link, walking robot can walk like animals. One of the feature is that space is existed between leg of walking robot and ground surface. So, it can walk through the non-uniform ground surface that have obstacle. In this paper, I will suggest design of walking robot that can walk on non-uniform ground surface effectively based on Jansen mechanism.