• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.4
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• pp.389-395
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• 2006

This paper proposes the controller for biped robot using intelligent control algorithm. In order to simplify the complexity of biped robot control, manipulator of biped robot is divided into four modules. These modules are controlled by intelligent algorithm with Hierarchical Mixture of Experts(HME) using neural network. Also neural network having direct control method learns the inverse dynamics of biped robot. The HME, which is a network of tree structure, reallocates the input domain for the output by learning pattern of input and output. In this paper, as a result of learning HME repeatedly with EM algorithm, the controller for biped robot operating safety walking is designed by modelling dynamics of biped robot and generating virtual error of HME.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.4
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• pp.485-492
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• 2006

This paper deals with implementation of network for distributed control system of a humanoid robot ISHURO(Inha Semyung Humanoid Robot). A humanoid robot needs much degree of freedom structurally and much data for having flexible movement. To realize such a humanoid robot, distributed control method is preferred to the centralized one since it gives a compactness, modularity and flexibility for the controllers. For organizing distributed control system of a humanoid robot, a control processor on a board is needed to individually control the joint motor and communication technology between the processors is required to transmit its information within control time. The processor is DSP-based processor and includes CAN network on a chip. It shares the computational load such as monitoring the sensor information and controlling the actuator between each of modules. In this paper, the communication architecture is suggested and its message protocol are discussed including message structure, time consumption for transmission, and controller structure at the view of distributed control for a humanoid robot. All of the sequence are simulated with Matlab and then verified with real walking experiment by ISHURO.

• Journal of Internet Computing and Services
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• v.14 no.6
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• pp.33-39
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• 2013

When the eldery with limited mobility and disabled use a wheelchairs to move, it can cause decreased exercise ability like decline muscular strength in upper limb and lower extremities. The disabled people suffers with spinal cord injuries or post stroke hemiplegia are easily exposed to secondary problems due to limited mobility. In this paper, We designed intelligent wheelchair robot system for upper limb and lower extremities exercise/rehabilitation considering the characteristics of these severely disabled person. The system consists of an electric wheelchair, biometrics module for Identification characteristics of users, upper limb and lower extremities rehabilitation. In this paper, describes the design and configurations and of developed robot. Also, In order to verify the system function, conduct performance evaluation targeting non-disabled about risk context analysis with biomedical signal change and upper limb and lower extremities rehabilitation over wheelchair robot move. Consequently, it indicate sufficient tracking performance for rehabilitation as at about 86.7% average accuracy for risk context analysis and upper limb angle of 2.5 and lower extremities angle of 2.3 degrees maximum error range of joint angle.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.73-74
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• 2008

In this study, we developed a robotic gait trainer which induces the active gait training based on predefined continuous proper lower extremity joint movements. AC servo motors and linear actuators were used to control hip and knee joints of patients and the weight support system was used to support the patient's weight during the gait training. We also implemented a Gill program to set the gait training pattern with several training parameters and to confirm states of patients and the system through the visual feedback. The effectiveness of the gait training system will be determined by the long-term clinical experiments in the future. We expect that the developed robotic gait training system could be applied very practically to recover gait abilities for persons with gait disorder.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.133-140
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• 2012

In this paper, we suggest a lifelike pattern generator for a quadruped walking system with a head, a tail, four legs and a torso. The system looks like a giant dinosaur which stands over 7 meters tall with its legs over 2 meters long. We focus on its lifelike naturalness. Thus, generating logical patterns in harmony with head-body-tail patterns and quadrupedal locomotion patterns makes you feel that the quadruped walking system is alive. The basic patterns of four legs and a body are obtained from a 3D graphic animation, which is made and captured from various motions of similar species in existence since the giant dinosaurs are exterminated. The dinosaur-like mechanism also is designed from bone and joint structures of quadrupedal animals. The lifelike pattern generator based on fuzzy logic could generate lifelike motions according to the dinosaur-like mechanism and the basic patterns. A series of computer simulations and experimental implements show that the pattern generator makes the quadruped walking system lifelike.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1155-1165
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• 2000

Due to the irregularity of walking ground and the inaccuracy in trajectory control of a leg, the mechanical shock and slip on the ground can be caused in the landing and supporting legs of a walkin g robot, and the robot may lose walking stability. Especially in a jointed-leg type walking robot, those problems are much more severe than in the pantograph type since the leg-weight of the jointed-leg type walking robot is relatively heavier than that of the pantograph type in general. In order to secure the walking stability for the jointed-leg type quadrupedal robot under development in KIST(Korea Institute of Science and Technology), a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper, and the effectiveness of the algorithm is verified through experiments.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.546-548
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• 1998

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.456-459
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• 2003

This paper deal with the biped walking stability by inverted pendulum type balancing joints. This model is hard to interpretation for the nonlinearity caused by upper direction movement then conventional model which have roll and prismatic joints. We can interpret this model by a linear approximation or interpolation method. This paper use a linear approximation method that can decide a movement of upper direction. Inverted pendulum type balancing joints have a advantage of less movement for keep stability and similar with human than conventional model and this model can be used for humanoid robot. We can see a stability of biped by ZMP(Zero Moment Point). Genetic algorithm is used for trajectory planning that is important for stable walking of biped.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.939-947
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• 2010

With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.