• Title/Summary/Keyword: 보행패턴계획

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Simulation of Various Walking Based on FSR Sensor (FSR 센서를 이용한 다양한 보행 구현)

  • Noh, Gyung-Gon;Kim, Jin-Geol
    • Proceedings of the KIEE Conference
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    • 2008.07a
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    • pp.1793-1794
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    • 2008
  • 본 연구는 다양한 환경에서의 인간형 로봇의 안정적인 보행을 하기위한 FSR (Force Sensing Resistor) 센서 기반의 보행패턴에 관한 전체 시스템의 설계와 이의 모의실험이다. 인간형 로봇의 안정적인 보행을 구현하기 위해서는 보행 패턴의 ZMP(Zero Moment Point) 궤적이 안정 영역 내에 위치하게 하여야 하고, 실제 보행 중에도 외부의 환경적인 요인과 내부의 제어 오차에 따라 보행패턴의 수정과 보완이 요구된다. 이에 FSR 센서를 적용하여 전체 인간형 로봇의 보행 시스템을 설계하고 안정적인 다양한 보행을 구현하기 위한 보행패턴을 제안한다. 이를 모의실험을 통해 평지, 계단, 경사면에 따른 보행 안정성을 검증한다. 차후 이러한 모의실험 결과를 보완하여 FSR 센서를 실제 인간형 로봇에 장착하고 실험하여 안정적인 보행을 구현할 계획이다.

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Motion Pattern Generation of Biped Walking Robot Using Neural Network (신경망을 이용한 이족 보행로봇의 동작 패턴 생성)

  • Hwang, Sang-Hyun;Park, Gwi-Tae
    • Proceedings of the KIEE Conference
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    • 2007.10a
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    • pp.325-326
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    • 2007
  • 인간형 로봇(Humanoid)은 인간과 유사한 구조를 갖고 있는 로봇으로, 이족 보행이 가능하고 양 손이 자유롭기 때문에 인간 생활 환경에 적용이 가능하다. 인간형 로봇은 이족 보행 로봇의 형태를 지니며 보통 20 자유도(DOF : Degree of freedom) 이상의 높은 자유도와 직렬형 링크 구조로 인해 로봇의 안정도를 해석하고 움직임을 제어하기가 어렵다. 이러한 이유로 이족 보행 로봇 동작의 안정도를 증가시키기 위해 로봇의 최적화된 동작 패턴 생성과 자세 제어 등이 연구 되고 있다. 본 논문에서는 범용 근사자의 특징을 갖는 신경망을 이용하여 이족 보행 로봇의 동작 패턴 생성 방법에 대하여 제안하였다. 실제로 계획된 동작을 토대로 6가지의 동작 패턴을 생성하였으며 컴퓨터 모의실험과 상용 이족 보행 로봇을 이용하여 생성된 동작 패턴의 안정도를 확인해보고 제안된 방법에 타당성을 검증하였다.

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A Basic Study of Planning Walking Pattern by developing a New Biped Robot-Simulator (보행로봇의 시뮬레이터개발에 의한 보행패턴계획의 기초적 연구)

  • Park, Chang-Young;Kweon, Hyun-Kyu
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.9 no.6
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    • pp.87-94
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    • 2010
  • In this paper, a new simulator of the biped robot for planning walking patterns was showed. And this simulator(MHBiped) is able to not only visualize the plan of patterns but also verify whether a biped robot design is suitable. In addition, MHBipd can modify various kinds of walking parameters and the trajectory of biped robot. Therefore, a new biped robot can be designed easily by the this simulator before you apply to a robot. As a result, a well-balanced parameters of walking patterns watching the movement of CG and ZMP can be obtained. Walking patterns should be changed according to both the existence of obstacles and conditions of ground and it can be described by the trajectory of hip and ankles. All those trajectorys can be also obtained by the cubic spline functions and the way of modeling walking patterns. The results of simulator, the movement function of CG and ZMP, the cubic spline functions and modeling of biped robot were introduced in this paper. And the effectiveness of this simulator was confirmed by the simulations.

An Empirical Evaluation Scheme for Pedestrian Environment by Integrated Approach to TOD Planning Elements (TOD 계획 요소의 통합적 접근을 통한 친보행 환경의 평가 방안)

  • Joo, Yong-Jin;Ha, Eun-Ji;Jun, Chul-Min
    • Spatial Information Research
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    • v.20 no.3
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    • pp.15-25
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    • 2012
  • In order to resolve transportation system focused on vehicles which have led to all sorts of problems such as traffic congestion, air pollution and so on, Korea recently have tended to center around Transit Oriented Development(TOD) which is capable of initiating public traffic demands. It is imperative to develop objective evaluation method which is able to measure pedestrian environment and amenity in order to facilitate green transit. The purpose of this paper is to present evaluation indices and measurement framework of pedestrian environment by analyzing effect on TOD major planning factors such as diversity, density, design, and supply etc. For this, we applied evaluation index with regard to TOD planning factors, investigating connection to pedestrian and employed AHP (Analytic Hierarchy Process) so as to quantify the result of measurement in Jongro 3ga and Hangangjin station. As a result, we presented relationship between travel patterns of pedestrian and each TOD planning factor. More importantly, the proposed framework is expected to make the best of the visualization as well as evaluation method for the pedestrian accessibility, convenience of public transportation, and the mixed land-use patterns in subway area and transit center.

Modeling and RPY Motion Analysis of Bipedal Walking Robots (이족 로봇의 보행 모델링 및 롤/피치/요 운동 특성 분석)

  • Kim, Byoung-Ho
    • Journal of the Korean Institute of Intelligent Systems
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    • v.21 no.3
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    • pp.353-358
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    • 2011
  • This paper presents a virtual-legged walking model for bipedal robots and analyzes its fundamental RPY(Roll, Pitch, and Yaw) motion effects by simulation. For the purpose of identifying the motion effects of the bipedal walking, we assign some arbitrary trajectories both at the center of mass and at the center of pressure of the robot based on human walking. And then we verify the major moments to the roll, pitch, and yaw directions of the robot. As a result, it is shown that those motions are natural in the process of bipedal walking and they are deeply dependent on the step distance, the vertical level of the center of mass, and the acceleration of the robot. The importance of trajectory planning for the footstep location during a bipedal walking is finally addressed in terms of balance.

A Study on the Systematization of the Pedestrian Space for the Prevention of Accidents in Urban Areas - The side of Planning and Management - (도시지역 사고예방을 위한 보행공간 체계화에 관한 연구 - 계획과 운영측면에서 -)

  • Hwang, Eui Jin;Ryu, Ji Hyeob;Lim, Ik Hyeon
    • Journal of Korean Society of Disaster and Security
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    • v.6 no.1
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    • pp.1-8
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    • 2013
  • Walking is one of human functions and has been the base of the development of human civilization. Walking ability had made the first village and urban pattern of the mankind. Cities had been constructed for pedestrian's convenience and happy life. But conventional cities have been crowded by the rapid increasing vehicles and population since material civilization had developed. On the other hand, pedestrian space has been neglected urban districts. Chose this study to suggest a direction for improvement by following the direction of the city characteristics and roadside pedestrian space. 1. Investigate the relationship and the significance and problems of pedestrian space by finding survey of the literature and discussion with those that affect the behavior of the pedestrian environment around. 2. For a comfortable pedestrian space on the improvement of the pedestrian area of space (physical and psychological) and gait characteristics, service levels and basic data. 3. Chose how to extract the most appropriate of the best alternatives presented several proposals based on the above survey of the literature data and field survey.

Analysis of Elderly's Walking Patterns near Metro-stations in Seoul by Using Smartphone Pedestrian Movement Data - An Empirical Study Based on "WalkOn" App Big Data - (스마트폰 보행이동 데이터를 활용한 노인의 역세권 이용실태 분석 - "WalkOn" APP의 서울시 빅데이터를 기반으로 -)

  • Lee, Sunjae;Park, So-Hyun
    • Journal of the Architectural Institute of Korea Planning & Design
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    • v.34 no.3
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    • pp.129-138
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    • 2018
  • The purpose of this study is to analyze the daily living area of the elderly using the vast amount of travel route data collected through smart phones. In order to analyze the utilization status of the elderly into the visiting area and the living area, the subway station influence area was typed based on the number and ratio of the elderly visiting and the elderly living there. The characteristics of the elderly visiting area and the living area of the subway station area were derived by analyzing the walking route data for the three types of subway station influence areas where the elderly visit and live. First, we derive the range of visiting area and living area of the elderly near the subway station. Second, we derive the characteristic of moving distance which causes the linked walking of the elderly. Third, destination distribution and facility utilization are influenced by the subject of use, movement pattern, and facility awareness.

Locomotion of Dog-like Quadruped Robots: Walk and Trot (견형 4족 로봇의 위치 이동: 걷기 및 속보)

  • Lim, Seung-Chul;Kim, Kwang-Han
    • Journal of the Korea Society for Simulation
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    • v.20 no.1
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    • pp.51-59
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    • 2011
  • This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.

A Master Plan for the 2002 World Cup Sports Complex in the Suwon City, Korea (수원시 2002 월드컵 종합체육공원 기본계획)

  • Kim, Sung-Kyun
    • Journal of the Korean Institute of Landscape Architecture
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    • v.30 no.6
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    • pp.119-127
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    • 2003
  • 본 연구는 수원시의 다양한 레크레이션의 수요증대와 지역주민을 위한 운동시설의 부족에 대응하기 위해 지역주민의 근린생활 체육시설을 확충하고, 수원시 연고의 삼성 블루윙즈 프로축구팀의 축구전용구장 및 연습구장 마련 및 2002널 월드컵 축구대회를 유치하고자 조성된 복합 스포츠판지에 대한 기본계획안이다. 개발방향은 1) 21세기의 생활패턴에 맞는 생활체육공간 조성, 2) 국제적 수준의 운동시설 및 인프라구축, 연중이용이 가능한 시민을 위한 커뮤니티 공간조성, 3) 친환경적이고 지속가능한 공간조성, 4) 복합적 토지 이용 개념을 도입하여 토지 활용도 및 재정 수입의 증대, 5) 쾌적한 보행시스템 제공, 6) 도시의 랜드마크로서 주변 도시체계와 연계성 강화, 7) 수원의 역사, 문화적 상징성 제고 등이다. 이를 위해 축구전용구장, 보조경기장, 잔디연습구장, 흙연습구장, 헬리포트장 능 축구전용구장 관련시설, 실내체육관, 실내 아이스링크 등 기타 체육시설, 야외 수영장, 농구장, 테니스장, 게이트볼장, 볼링장, 헬스장 등 생활체육시설, 스포츠용품 몰, 식음시설 등 편익시설, 야외공연장, 어린이정원, 영화관, 축구박물관 등 위락/문화시설, 산책로, 체력단련코스, 전망대 등 휴양시설, 그리고 주차장, 녹도, 녹지 등 기타 부대시설이 도입되었다. 본 연구는 종합체육공간이 단순히 체육시설이 모여 있는 곳이 아니라 시민들이 운동과 더불어 휴식, 등산, 놀이, 자연 학습 등 다양한 여가활동을 할 수 있도록 계획되었다. 상업시설, 커뮤니티 시설 등이 복합적으로 개발되어 있기 때문에 경기가 열릴 때뿐만 아니라 4계절 내내 주중, 주말 및 휴가기 간에 가족과 더불어 휴식을 취할 수 있는 레크레이션 및 커뮤니티 공간으로 중요한 역할을 하도록 계획된 새로운 개념의 체육공간이라는데 의의가 있다.

The Facade Improvement of Complexed Commercial Building Considering Open Signboard - Focused on Commercial district in Chnagwon - (옥외광고물 설치를 고려한 복합상업건물 입면개선 - 창원시 일반상업지구를 중심으로 -)

  • Yu, Jin-Sang;Seo, You-Seok
    • Archives of design research
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    • v.20 no.3 s.71
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    • pp.191-202
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    • 2007
  • In these days, open signboard system is controlled by administrative policy and law, but there is no consideration for different types of building. As such, this study aims to propose planning criteria for streetside commercial buildings, such as elevation and mass design of buildings, layout of signboard attached to the building elevation with consideration for streetscape. In mass planning for streetside commercial buildings, the building type with front open space keeps lower open signboard density than the building type directly leading to the street. It is desirable that open signboard of lower floor part is attached by a horizontal type, open signboard of low medium floor part by a projected vertical type, open signboard of high medium floor part and roof part with a minumum attachment of open signboard. As for elevation planning relative to open signboard, it is desirable that an irregular wall type is more useful than a regular wall type to control open signboard. And in all cases, horizontal element facade has a handicap to control the quantity of signboard. If the building has a corner, the piloti should be used in the corner of lower story for smooth circulation of pedestrians and emphasizing the transparency of elevation. Specially, in the case of a round corner, the corner should be emphasized by the composition of high transparent mass.

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