• 동력기계공학회지
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• 제21권5호
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• pp.41-47
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• 2017

To implement Argentina tango dancer-like walking of the humanoid robot, a new trajectory generation scheme based on particle swarm optimization of the blending polynomial is presented. Firstly, the characteristics of Argentina tango walking are derived from observation of tango dance. Secondly, these are reflected in walking pose conditions and cost functions of particle swarm optimization to determine the coefficients of blending polynomial. For the stability of biped walking, zero moment point and reference trajectory of swing foot are also included in cost function. Thirdly, after tango walking cycle is divided into 3 stages with 2 postures, optimal trajectories of ankles, knees and hip of lower body, which include 6 sagittal and 4 coronal angles, are derived in consequence of optimization. Finally, the feasibility of the proposed scheme is validated by simulating biped walking of humanoid robot with derived trajectories under the 3D Simscape environment.

• 대한산업공학회지
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• 제20권2호
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• pp.77-90
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• 1994

Curve-net interpolation surface is one of the most popular method in engineering design. Therefore it is supported with many commercial CAD/CAM system. However, construction algorithm of curve-net interpolation surfaces is rarely opened to the public because of its copy-right. In this paper we establish a construction algorithm of curve-net interpolation surface so called sweeping surface which especially concentrates on trajectory of cross-section curve. We also show the method which can construct sweeping surfaces as NURB or Bezier mathematical models. Surfaces having the form of standard mathematical models are very useful for the application of joining, trimming, blending etc. The proposed surface interpolation scheme consists of four steps; (1) preparation of guide curves and section curves, (2) remeshing guide curves and section curves, (3) blending section curves after deformation, and (4) determination of control points for sweeping surface using gordon method. The proposed method guarantee $G^1$-continuety, and construct the surface salifying given section curves and trajectory of section curves.

• 전자공학회논문지SC
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• 제45권4호
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• pp.68-78
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• 2008

연속적인 경로 사이를 부드러운 곡선으로 잇기 위해서 기존의 로봇 제어기들은 일반적으로 연속적인 경로를 시간 축에서 합성하는 방법을 사용해 왔다. 하지만 이런 방법은 다음과 같은 두 가지 단점을 내재하고 있다. 천이 경로의 형태가 연접하게 생성될 수 없다는 점과 천이하는 동안 속력을 제어할 수 없다는 점이 그것이다. 이러한 문제점들을 극복하기 위해서 본 논문은 매끄럽지 않게 연결된 두 경로들을 부드럽게 잇기 위해 곡률이 제한된 새로운 천이 궤적 생성 방법을 제시하고자 한다. 실험 결과는 기존의 방법들보다 천이 궤적이 더 부드럽게 생성되는 것을 보여주며, 또한 보장된 곡률의 제한 수준은 $0.02{\sim}1$임을 보여준다.

• 소음진동
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• 제7권2호
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• pp.215-222
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• 1997

The flow and acoustic fields due to a vortex ring interaction with a rigid sphere are simulated numerically. The flow field is regarded as three-dimensional inviscid and incompressible. The vorticity is assumed to be concentrated inside the finite core of vortex filament. The vortex filament curve, described by parabolic blending curve function, is used to effectively solve the modified Biot-Savart equation. The interaction between a vortex ring and a rigid sphere using the parabolic blending curve is calculated. The trajectory of the vortex ring is obtained with several different initial positions between the ring and the sphere. The force variations acting on the sphere are calculated by using the boundary integral method. Finally, we can also obtain the acoustic signals at the far field observation positions from the force variations acting on the rigid surface. We can find that the dipole axis of the directivity patterns are rotated during the interacting phenomena.

• 한국CDE학회논문집
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• 제2권2호
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• pp.122-129
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• 1997

Ball rolling blending is a popular technique for blending between parametric surfaces. The ball rolling blend surface is conceptually a trajectory of a ball rolling between two base sufaces. It is constructed by sweeping a circular arc along a ball contact curve pair. Since a ball rolling blend surfaces does not have a polynomial form like a Bezier surface patch, it is impossible to apply this method directly to a commercial CAD/CAM system. In this paper an algorithm is developed to approximate a ball rolling blend surface into Bezier surface patches. Least square method is applied to obtain proper Bezier surface patches under a given tolerance. The Bezier surface patches have degree three or more and guarantee VC1-continuity.

• 드라이브 ㆍ 컨트롤
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• 제13권4호
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• pp.52-58
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• 2016

The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.94.2-94
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• 2002

$\textbullet$ The method to have real-time response at the motion control. $\textbullet$ The trajectory generation method guarantees the continuous acceleration in changing the velocity during the actuator is moving. $\textbullet$ We propose the velocity profile generation algorithm in order to change object position or object velocity with continuous acceleration using blending method.

• 한국전자통신학회논문지
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• 제4권2호
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• pp.116-122
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• 2009

본 논문에서는 얼굴 애니메이션을 좀 더 실질적으로 표현하기 위하여 한글 생성의 원리와 입 모양 형태의 유사성을 기반으로 기본 음소를 선정하고 이를 이용하는 새로운 알고리듬을 제안한다. 카메라를 통해 얻어진 특징 점 이용이 아닌, 모션 캡쳐 (Motion Capture) 장비를 사용하여 실제 입모양의 움직임 데이터를 취득하여 취득된 데이터를 지수 증,감 형태로 나타내어 발성에 대한 음소를 표현하고 연속된 음절을 표현하기 위하여 지배 함수(Dominance Function)와 혼합 함수(Blending Function)를 적용하여 동시 조음에 대한 표현을 해결하였다. 또한 음절 간의 결합 시간을 입 주변의 마커(Marker) 거리 값의 변위를 이용하여 그 기울기 값에 따라 시간 지연을 함으로 현실감 있는 사용자 입력 문자에 대한 입 모양 궤적 데이터를 생성하는 실험 결과를 보여준다.

• 전기학회논문지
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• 제58권2호
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.