• Title, Summary, Keyword: 보행 형태

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A New Type of a Quadruped Robot (새로운 형태의 4족 보행 로봇)

  • Sung, Young-Whee;Seo, Hyeon-Se
    • Journal of the Institute of Convergence Signal Processing
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    • v.13 no.2
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    • pp.113-118
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    • 2012
  • Most of the existing multiped walking robots are biomimetic, i.e. they are designed to have the shapes of living things such as animals or insects. Even though those robots are familiar to us, they have some drawbacks in the view point of walking efficiency such as stability and walking speed. In this paper, we introduce a quadruped walking robot that can perform fast and stable walking by virtue of its distinctive leg positions. The proposed quadruped robot has a foreleg, a hindleg, a left leg, and a right leg. In the conventional robots, dynamic walking is needed to increase walking speed. Dynamic walking is difficult to be accomplished and is apt to be unstable. The proposed robot can move its legs in a manner that its center of gravity is always laid in the supporting polygon, so it can perform fast and stable walking without dynamic walking.

Development of Design Criteria for Crosswalks at Signalized Intersections (신호교차로 횡단보도 설치기준에 관한 연구)

  • 하태준;박제진;이형무
    • Journal of Korean Society of Transportation
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    • v.21 no.4
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    • pp.47-56
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    • 2003
  • There are no specific criteria deciding what type of crosswalk installs although 4 typed crosswalks at signalized intersections classify according to number of stop line, spacing from the border of intersections and existence of traffic islands or not. Accidents involving pedestrians at signalized intersections are classified by type of crosswalks by traffic volume, pedestrian volume at crosswalk, intersection geometry and phase in view of pedestrians' safety at 50 intersections in Gwangju. The Multiple regression models are applied to express the pedestrian accident rate. In addition, process deciding what type of crosswalk installs which includes accident rate involved pedestrian is changed into number of accident is represented to reduce number of accidents. This paper presents what type of crosswalk installs in order to reduce pedestrian involved accidents at new or existing crosswalk.

Development of Insole Type Capacitive Pressure Sensor for Smart Gait Analysis (스마트 보행분석을 위한 깔창 형태의 전기용량성 압력센서 개발)

  • Woo, Hyunsoo;Min, Se Dong
    • Proceedings of the Korean Society of Computer Information Conference
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    • pp.411-412
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    • 2012
  • 본 논문에서는 인간의 가장 기본적이며 기초적인 운동인 걸음걸이로부터 검출할 수 있는 걸음 수 및 보행분석을 위해 전도성 섬유를 이용한 전기용량성압력 센서를 깔창형태로 개발하였다. 개발된 깔창 형태의 센서는 보행시의 압력을 측정하여 보행신호를 검출하고, 검출된 신호를 이용하여 걸음 수 및 보행 분석을 실시하였다. 개발된 센서의 성능 검증을 위하여 상용 만보계 및 관찰자의 수계로 도출된 보수를 비교하였으며, 자세에 따른 압력차이를 측정하였다. 기존의 상용 만보계는 저속(1 Km/h)으로 걸었을 때 보수가 잘 측정되지 않은 반면 개발된 센서는 저속에서도 관찰자 수계대비 정확한 보수를 도출 할 수 있었다. 또한 자세에 따라 압력 값을 토대로 사용자의 자세를 모니터링 할 수 있음을 보였다. 본 연구는 향후 스마트폰과 무선 연동하는 스마트 보행관리 시스템을 개발하기 위한 기초연구이다.

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Real-Time Multi-Objects Detection and Interest Pedestrian Tracking in Auto-Controlled Camera Environment (제어 가능한 카메라 환경에서 실시간 다수 물체 검출 및 관심 보행자 추적)

  • Lee, Byung-Sun;Rhee, Eun-Joo
    • Proceedings of the Korea Society of Information Technology Applications Conference
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    • pp.38-46
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    • 2007
  • 본 논문에서는 실시간으로 획득된 영상을 분석하여 움직이는 다수 물체를 검출하고, 카메라를 자동 제어하여 관심 보행자만을 추적하는 시스템을 제안한다. 다수 물체 영역 검출은 차영상과 이전변환 밀도값을 이용한다. 검출된 다수 물체 영역에서 사람의 구조적 정보와 형태 정보를 이용하여 나무들의 흔들림으로 인한 영역이나 차량의 움직임 영역은 제거되고, 관심 보행자 영역만을 검출하였다. 관심 보행자 추적은 무게중심 차를 이용한 움직임 정보와 k-means 알고리즘으로 구한 세 점의 평균 색상 정보를 이용한다. 원거리 관심 보행자는 인식률을 높이기 위해 줌을 실행하여 확대하고, 관심 보행자의 화면상 위치에 따라 카메라 방향을 자동으로 조정하여 관심 보행자반을 연속적으로 추적한다. 실험 결과, 제안한 시스템은 실시간으로 움직이는 다수 물체를 검출하고, 사람의 구조적 특정과 형태 정보로 관심 보행자만을 검출할 수 있었고, 움직임 정보와 색상정보로 관심 보행자를 연속적으로 추적할 수 있었다.

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Ground Reaction Force Characteristics During Forward and Backward Walking Over 20 Degree Ramp (20° 경사로 앞.뒤 보행 동작 시 지면반력의 형태 비교 분석)

  • Chae, Woen-Sik
    • Korean Journal of Sport Biomechanics
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    • v.18 no.3
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    • pp.71-82
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    • 2008
  • W. S. CHAE, Ground Reaction Force Charateristics During Forward and Backward Walking Over 20 Degree Ramp. Korean Journal of Sport Biomechanics, Vol. 18, No. 3, pp. 71-82, 2008. The purpose of this study was to compare GRF characteristics during forward and backward walking over 20 degree ramp. Temporal parameters, GRFs, displacement of center of pressure (DCP), and loading and decay rates were determined for each trial. The results showed that the vertical GRF in BD during RTO was significantly greater than those found in FU. This reults indicated that GRF patterns may be changed by different walking conditions and altering position of ankle, knee, and center of mass throughout the walking cycle. The DCP during $RHC_2$-LHC in antero-posterior direction for downward was smaller than the corresponding value for upward condition. It' seems that the ankle and knee joints are locked in an awkward fashion at the toe contact to compensate for imbalance. Reducing the magnitude of loading rate can be achieved by walking in the backward direction. Accordingly, the results can be a benefit if one is suffering from an impact-type injury.

보행형 로롯과 이동 메커니즘

  • Han, Chang-Su
    • Journal of the KSME
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    • v.48 no.9
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    • pp.34-38
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    • 2008
  • 이 글에서는 일반적인 로봇 시스템의 이동 메커니즘을 형태 및 기능별로 분류하고, 그 중 대표적 형태인 보행형 이동 로봇(Legged Walking Robot)의 장점 및 최신 연구동향을 중점적으로 소개하고자 한다.

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Effect of Feedback Methods and Ambulatory Assistive Aids on Accuracy of Partial Weight Bearing (되먹임과 보행보조도구의 형태가 30%체중지지의 정확성에 미치는 영향)

  • Park, Eun-Young;Kim, Won-Ho
    • The Journal of the Korea Contents Association
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    • v.11 no.4
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    • pp.207-214
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    • 2011
  • The purpose of this study was to investigate effect of feedback methods and ambulatory assistive aids on accuracy of partial weight bearing in healthy adults. Twenty subjects were recruited and trained to 30% weight bearing of body weight (BW) using 3-point gait crutches and wheeled walker pattern. Dynamic feedback group (n=11) was received dynamic postresponse feedback and static group (n=9) received static feedback. Force plate was used to measure %BW and GAITRite used to measure gait parameters in immediately and after 3 days of training. Immediately after training, there was not significantly at 30%BW target load in dynamic group with crutch gait (p>.05). There were significantly differences in %BW according to feedback methods and ambulatory aids (p<.05). There was not significant difference between immediately and after 3 days of training (p>0.05). There were significantly differences in gait velocity and stance ratio between crutches and wheeled walker gait (p<.05). Thus, it was suggested that if possible, use crutches, training for partial weight bearing via dynamic feedback is necessary.

Advanced Scheme for PDR system Using Neural Network (Neural Network를 이용한 PDR 시스템의 정확도 향상 기법)

  • Kwak, Hwy-Kuen
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.15 no.8
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    • pp.5219-5226
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    • 2014
  • This paper proposes an improved scheme of pedestrian position information system using neural network theory in a GPS-disabled area. Through a learning/obtaining gait pattern and step distance about walk, run, duck walk, crab walk and crawl, the position estimation error could be minimized by rejecting the inertial navigation drift. A portable hardware module was implemented to evaluate the performance of the proposed system. The performance and effectiveness of the suggested algorithm was verified by experiments indoors.

A Study on the Characteristics of the'Urban Picturesque' in the Experience of an Urban Pedestrian Street - A Case of the Duksugung-gil, Insadong-gil and Myoungdong-gil - (도시 보행자가로의 체험에 있어서 '어번픽춰레스크'적 특성에 관한 연구 - 덕수궁길, 인사동길, 명동길의 사례를 중심으로 -)

  • Kim, Young-Jae;Kim, Han-Bai
    • Journal of the Korean Institute of Landscape Architecture
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    • v.36 no.6
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    • pp.115-125
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    • 2009
  • The Picturesque Style of the $18{\sim}19th$ Century Romantic landscape gardening had features of both irregularity and variety. These features were applied to $19{\sim}20th$ Century urbanism, which was called 'Urban Picturesque'. Preceding research has found that pedestrians take more interest in streets modeled after 'Urban Picturesque' principles mainly focused on physical appearance. further development of this research was undertaken through an experiment focused on pedestrian activity as well as physical factors through a case study of the Duksugung-gil, Insadong-gil and Myoungdong-gil. The results of the research are as follows. Although the physical conditions of the street in Duksugung are fitted more on Urban Picturesque principles than the other two case studies, the degree of pedestrian interest was highest for the street in Insadong due to excellence both in physical appearance and the diversity of cultural activities available in it. In conclusion, it can be said that to achieve the fdl effect of a Picturesque urban scene, a diversity of place-appropriate activities related to socio-cultural programs should be combined with an excellent physical appearance.

Computer Simulation of Pedestrian Collision Trajectory for Various Velocities (컴퓨터 시뮬레이션을 이용한 보행자 충돌 선회특성에 관한 연구)

  • 김종혁;유장석;박경진;손봉수;장명순;홍을표
    • Journal of Korean Society of Transportation
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    • v.20 no.2
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    • pp.81-92
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    • 2002
  • An automobile crash with a pedestrian generates a trajectory which is crucial to identify the cause of the crash. Previous researches have been carried out for pedestrian movement using simple explicit formulae. The formulae are derived from elementary physics. Therefore, they could not sufficiently include variables of a vehicle and a pedestrian. To overcome such a limitation, a simulation is utilized for the pedestrian behavior in crash environment. A dynamic software called MADYMO is utilized for the simulation. A simulation model is established. The automobile body and a dummy are modeled with rigid bodies, joints and springs. The simulation results are compared with those from explicit formulae. It is found that the explicit formulae did not fit to pedestrian conditions. Simulations are performed for various velocities of automobiles. Results are discussed for the usage of the simulation.