• Journal of KIISE:Software and Applications
• /
• v.36 no.2
• /
• pp.131-143
• /
• 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 Society of Computer Information Conference
• /
• 2017.01a
• /
• pp.187-188
• /
• 2017

본 논문에서는 Inverse Kinematics(IK) 방법을 이용하여 사족보행 게임 캐릭터의 이동 IK를 구현하였다. 게임 캐릭터의 이동 IK는 Unity의 NavMeshAgent를 사용하여 이동하는 사족보행 생물체가 회전 시 척추를 자연스럽게 꺾이도록 구현되었다. 본 논문에서는 게임캐릭터에 이동 IK를 적용했을 때와 적용하지 않았을 때를 비교하였으며, 이동 IK를 적용한 경우에 경로를 따라 이동하는 사족보행 캐릭터의 애니메이션이 자연스럽게 이루어짐을 확인하였다.

• Journal of Korean Society of Transportation
• /
• v.27 no.1
• /
• pp.169-177
• /
• 2009

In this paper, the rotated hexagonal lattice model (RHLM) was proposed, which is applied to pedestrian flow, and developed the simulation model for the pedestrian counterflow. RHLM is an upgrade version of the square lattice model(SLM) and hexagonal lattice model(HLM). The simulation was performed at the hexagonal lattice $20{\times}20$ and evaluated by different speed, density and flow conditions. Simulation results are compared with SLM and show that RHLM can replicate the characteristics of pedestrian traffic more effectively and reliably than any other existing models from several perspectives. First, RHLM can explain the shortest-path movement of pedestrians and more realistic avoidance motion. If they cannot move straight direction, they can move shorter distance from previous position to destination. Second, RHLM reflects the characteristics that the pedestrian can move with higher capacity and the speed of pedestrian flow is hard to zero.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2010.07a
• /
• pp.113-116
• /
• 2010

본 논문은 보행중인 시각장애인에 장착된 카메라로부터 획득한 영상에서 보도와 차도 영역을 구분하기 위한 영역분할 기법과 질감 특징추출 기법에 대해 제안한다. 영상내의 허프 변환을 이용한 라인검출을 통해 도로 경계선을 검출하고, 분할된 영역을 원근에 따라 3 레벨로 구분하여 질감 특징성분을 추출함으로써 보도와 차도영역을 분리한다. 보도블럭이 가지는 복잡하고 다양한 특성의 패턴과 차도의 균일한 질감을 가진 영역의 특성을 비교하기 위하여 회전에 강건한 LBP, GLCM 질감 특징성분들을 이용함으로써 두 영역을 구분하였다. 제안된 방법은 낮과 밤 영상에 대해 실험한 결과 조도의 변화에 강건하게 영역을 분리할 수 있었고, 또한 보행자와 장애물이 많은 영상에서도 회전이나 폐색에 관계없이 영역 분리가 가능함을 검증하였다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09b
• /
• pp.1-4
• /
• 2003

인간의 작업을 보조 혹은 대신하기 위해서 인간과 흡사한 이족보행로봇에 대한 연구가 많이 진행되고 있다. 이족보행로봇이 인간을 대신해서 어떤 작업을 하기 위해서는 작업공간에서의 자유로운 이동과 장애물 대처능력은 반드시 필요한 기능이다. 본 논문에서는 안정된 정적보행 및 장애물을 지능적으로 대처하는 이족보행로봇의 보행알고리즘을 제안하였다. 먼저 장애물 대처가능한 이족보행로봇의 기구 설계 및 제어기 구현에 대하여 설명하고, 인간의 보행 분석 결과를 바탕으로 안정된 정적보행 알고리즘을 제안하였다. 또한 좌우 회전 및 옆걸음을 통한 장애물 회피 알고리즘, 발에 부착된 적외선센서로 장애물을 인식하여 장애물을 넘어가는 보행 알고리즘을 제안하였다. 제안한 보행알고리즘은 이족보행로봇을 제작하여 다양한 작업환경에서 실험으로 성능을 검증하였다.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.1
• /
• pp.261-268
• /
• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.48 no.4
• /
• pp.67-75
• /
• 2011

This paper presents a scale and rotation-invariant gait recognition method using R-transform, which is computed by projecting squared coefficients of Radon transform. Since R-transform is invariant to translation, rotation, and scaling, it particularly suitable for extracting object poses without camera calibration. Coefficients of R-transform are used to compute correlation, and the maximum correlation value determines the similarity between two gait images. The proposed method requires neither camera calibration nor geometric compensation, and as a result, it makes robust gait recognition possible without additional compensation for translation, rotation, and scaling.

• Journal of Digital Contents Society
• /
• v.12 no.3
• /
• pp.279-289
• /
• 2011

The latest hardware and software techniques are combined to give safe walking guidance and convenient service of realtime walking assistance system for visually impaired person. This system consists of obstacle detection and perception, place recognition, and sign recognition for pedestrian can safely walking to arrive at their destination. In this paper, we exploit the sign object detection system in subway station for sign recognition that one of the important factors of walking assistance system. This paper suggest the adaptive feature map that can be robustly extract the sign object region from complexed environment with light and noise. And recognize a sign using fast zernike moment features which is invariant under translation, rotation and scale of object during walking. We considered three types of signs as arrow, restroom, and exit number and perform the training and recognizing steps through adaboost classifier. The experimental results prove that our method can be suitable and stable for real-time system through yields on the average 87.16% stable detection rate and 20 frame/sec of operation time for three types of signs in 5000 images of sign database.

• Journal of the Institute of Convergence Signal Processing
• /
• v.5 no.1
• /
• pp.46-52
• /
• 2004

In this paper, we introduce a case study of developing a miniature humanoid robot which has 16 degrees of freedom, 42 cm heights, and 1.5kg weights. For easy implimentation, the integrated RC-servo motors are adopted as actuators and a digital camera is equipped on its head. So, it can transmit vision data to a remote host computer via wireless modem. The robot can perform staircase walking as well as straight walking and turning to any direction. The user-interface program running on the host computer contains a robot graphic simulator and a motion editor which are used to generate and verify the robot's walking motion. The experimental results show that the robot has various walking capability including straight walking, turning, and stairs walking.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.5
• /
• pp.603-609
• /
• 2010

This paper introduces an objects recognition algorithm based on SURF(Speeded Up Robust Features) and GP(Genetic Programming) based gaits generation. Combining both methods, a recognition based intelligent walking for quadruped robots is proposed. The gait of quadruped robots is generated by means of symbolic regression for each joint trajectories using GP. A position and size of target object are recognized by SURF which enables high speed feature extraction, and then the distance to the object is calculated. Experiments for objects recognition and autonomous walking for quadruped robots are executed for ODE based Webots simulation and real robot.