• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1839_1840
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• 2009

본 논문에서는 4족 보행 로봇의 제작을 위한 4족 보행 로봇 시뮬레이터를 구성한다. 우선 제작하고자 하는 4족 보행 로봇의 기구학 모델링은 순기구학 모델과 역기구학 모델을 유도하며 역기구학 모델은 기하학적 방법을 이용한다. 한편 구성된 시뮬레이터에서는 유도한 4족 보행 로봇의 모델을 이용한 보행 패턴 생성 등은 PC에서 연산하며 연산된 값은 4족 보행 로봇의 컨트롤러를 이용하여 각 모터에 전송 가능하며, 이때 PC와 제어기 사이의 통신은 지그비(Zigbee)를 이용한 무선 통신을 사용한다. 또한 모든 연산 과정 및 실제 시뮬레이터 구성은 MATLAB을 이용한다. 마지막으로, 기존 걸음새 패턴 생성 방법을 이용 하여 구성된 4족 보행 로봇 시뮬레이터의 효용성을 검증하였다.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.6
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• pp.26-36
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• 2020

The use of existing macroscopic research of pedestrian behavior on the walking link as data is limited in determining an individual pedestrian's moving route and the level of service. In macroscopic studies, it is difficult to make quantitative indices, such as pedestrian flow rate, occupied space, density, and speed for determining the level of service on pedestrian roads. Therefore, the microscopic pedestrian route is required to establish appropriate pedestrian policies. In this study, the Yeok-Sam subway station network was examined using a micro-simulation VISSIM, which was then calibrated and validated statistically. The Pedestrian Road's Level of Service of Yeok-Sam subway station area was evaluated using the pedestrian speed as the evaluating index on the Korean highway capacity handbook.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2009.05a
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• pp.193-196
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• 2009

횡단보도 국부 조명은 운전자에게 눈부심을 제공하지 않고 보행자를 직접조명하여 연직면 조도를 높여 보행자를 인식하도록 하여야 한다. 이를 위해서는 횡단보도 국부 조명의 설치 위치가 매우 중요하다. 본 논문에서는 보행자의 보임이 조명기구 위치에 따라 어떻게 달라지는가에 대해 시뮬레이션을 통해 조사하였다. 연구 결과 횡단보도 국부조명을 자동차 진행방향으로 설치하여 보행자를 직접 조명하는 것이 횡단보도내의 어느 위치에 보행자가 있더라도 보행자를 쉽게 볼 수 있게 한다는 것을 알 수 있었다.

• 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.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.5
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• pp.54-61
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• 2016

This paper try to identify the minimum speed of vehicles in collision between pedestrian head and windshield at vehicle-pedestrian accidents. The MADYMO program was used with NF Sonata vehicle and pedestrian in height of 160cm, 170cm, and 180cm. From the simulation results, it was found that the minimum speed of vehicle was different for each pedestrian height : 49km/h for 160cm, 41km/h for 170cm, and 29km/h for 180cm. The results could be used in speed estimating process when there is a collision trace between pedestrian head and windshield at vehicle- pedestrian accident investigation.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.05a
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• pp.294-297
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• 2022

본 논문에서는 비평탄 지형 보행이 가능한 이동형 로봇의 설계 최종 목적에 최적화된 12자유도 소형 4족 로봇의 하드웨어를 설계하였으며, 비평탄 지형을 극복하기 위한 지능적인 보행을 설계하고 그에 따른 각 관절별 모터들의 용량을 분석하고 시뮬레이션을 통해 최적의 파라미터값들을 도출한다

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.631-638
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• 2012

This work proposes a new method to generate velocity profile of a traction motor equipped in a rehabilitation system for knee joint patients through humanoid robot simulation. To this end, a three-dimensional full-body humanoid robot model is newly constructed, and natural human gait is simulated by applying to it reference joint angle trajectories already published. Linear velocity is derived from distance data calculated between the positions of a thigh band and its traction motor at every sampling instance, which is a novel idea of this paper. The projection rule is employed to kinematically describe the humanoid robot because of its high efficiency and accuracy, and measured joint trajectories are used in simulating human natural gait referring to Winter's book. The attained motor velocity profile for a certain position in human body will be applied to our walking-assistance system which is implemented with a treadmill system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.877-880
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• 2005

This paper suggests gait analysis and gait simulation method using Gait Motion Capture equipment and plantar pressure measurement system. The gait of normal person and how it will be effected by added weight with wearing military equipments are studied by suggested method. It is measured that a change of gait pattern when wears military equipments with Korean male adult(height 180 cm, weight 70 kg) and simulated its results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1247-1252
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• 2005

Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.