• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.1
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• pp.100-108
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, galt trajectories of the biped robot on the sagittal Plane are not enough to construct the complete gait pattern because the bided robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.

• Proceedings of the Korean Information Science Society Conference
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• 2003.10a
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• pp.85-87
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• 2003

보행 로봇은 두발로 걷는 인간형 로봇으로 인간과 유사한 운동성을 가지는 로봇을 일컫는다. 그러나 다리로 걷는 기능을 구현하기에는 기술적으로 경제적으로 많은 시간이 걸리고, 수학적 모델로 풀 수 있는 문제가 아니기 때문에 보행 로봇의 보행 패턴을 구하는 것은 쉽지 않다. 따라서 본 논문에서는 2관절 보행 로봇의 최적의 보행 패턴을 찾기 위하여 진화 알고리즘을 연구하였다. 또한, 기존의 언덕 오르기법과 진화기법인 누적적 선택 및 유전자 알고리즘에 의해 보행 패턴 학습을 하는 시뮬레이터를 각각 구현하였으며, 세 가지 실험에 대한 결과를 비교 분석하였다.

• Journal of KIISE:Software and Applications
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• v.36 no.2
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• pp.131-143
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• 2009

Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG (Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.113-116
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• 2007

본 논문은 인간의 보행에 대한 에너지 분석을 통해 biped robot의 설계 단계에서 최적의 보행제어인자를 추출하기 위한 연구이다. 에너지 효율이 높은 보행인자 값을 얻기 위해 인간의 보행영상을 획득하고, 획득된 영상을 5-link biped robot model로 근사화하여 dynamics와 energy를 분석한다. 또한 link의 길이 비율과 link의 무게, link의 관성의 변화를 통해 5-link로 근사화된 인간의 보행 효율과 기구적 요소 사이의 민감도를 판단할 수 있다. 인간과 자유도가 다른 biped robot이 인간과 같은 보행을 위하여 설계단계에서 고려되어야할 중요한 기구적 요소가 이러한 민감도를 통해 구해진다.

• Journal of Advanced Navigation Technology
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• v.21 no.1
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• pp.132-137
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• 2017

This paper proposes a transformation method of the zero moment point (ZMP) and the center of mass (CoM) from one walking pattern to other patterns by considering the structure of a robot or walking situations in real time. In general, a humanoid robot has own structure characteristics like height and mass. The structure characteristics make the given CoM/ZMP walking pattern of one human or one humanoid robot to be difficult to apply to other robot directly. For this purpose, we analyze the characteristics of walking patterns according to the step length, duration of walking support phase and the CoM height by using the cart-table model as the simple humanoid robot model. A transformation equation is derived from the analyzation and it is verified with simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.991-996
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• 2017

Gait stability is partly characterized by an extended stance phase that comprises 60 of the gait ％ cycle. In this study, a gait pattern was employed for a crank drive system that allows for stable lower limb kinematics during stand-up cycling. A quick return mechanism was applied to the crank system to allow for a slow rotation of the crank during the stance phase and for a quick return during the swing phase. Design parameters for the quick return crank mechanism were defined, and kinematic simulations were performed to understand the behavior of the mechanism. To evaluate the design, an experimental instrument was fabricated, and the cycling motion was analyzed. The results indicated that this new drive system can stabilize the center of mass of the user. This study can contribute to the development of a stand-up bicycle that allows for more comfortable leg kinematics.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.248-253
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• 2015

In order to adapt to human's life and perform missions, a humanoid robot needs a height at least similar with children's. In this paper, we proposed a humanoid robot which is like a child who is taller than 1m. We presented showing the humanoid robot's kinematics, designing of a three-dimensional model, developing mechanisms, and the hardware structures using servo motors and compact size PC. Through this process, we designed and manufactured child humanoid robot 'CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary Systems)' that is robot is 1m 10cm tall and 8.16kg in weight. For robot's walking, we applied to ZMP-based walking technique and the creation algorithm is applied for walking patterns. Through experiments, we analyzed walking patterns according to the creation and changing parameter values.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3658-3665
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• 2010

As the population of elderly people and disabled people are increased, various demands for human welfare using robot system are raised. Especially autonomous rehabilitation system using robot could reduce the human effort while maintaining the its intrinsic efficacy. This study deals with mobile gait rehabilitation system which combined with BWS (Body Weight Support) for training of elderly and handicapped people who suffer the muscle force weakness of lower extremity. BWS which is designed by kinematic analysis of body lifting characteristics and walking guide system are integrated with main control system and wheeled platform. This mobile platform is operated by UCS (User Command System) and autonomous trajectory planning algorithm. Finally, through the EMG (Electromyography) signal measuring and its analysis for subject, performance and feasibility of developed system is verified.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.5
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• pp.477-481
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• 2014

Human has various types of emotions which affect speculation, judgement, activity, and the like at the moment. Specifically, walking is also affected by emotions, because one's emotion status can be easily inferred by his or her walking style. The present research on biped walking with humanoid robots is mainly focused on stable walking irrespective of ground condition. For effective human-robot interaction, however, walking pattern needs to be changed depending on the emotion status of the robot. This paper provides analysis and comparison of gait experiment data for the men and women in four representative emotion states, i.e., joy, sorrow, ease, and anger, which was acquired by a gait analysis system. The data and analysis results provided in this paper will be referenced to emotional biped walking of a humanoid robot.