• Proceeding of EDISON Challenge
• /
• 2017.03a
• /
• pp.602-607
• /
• 2017

본 연구는 4족 보행 로봇을 설계하기 위해 linkage of jansen mechanism을 선택하였고 설정한 보행 목적에 맞는 최적 링크의 길이를 구하기 위해 Edison SW를 사용하여 해석을 하고 수치적 해석을 동원하여 목표에 대한 신뢰를 높인다.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.10 no.9
• /
• pp.1039-1048
• /
• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

• Journal of the Institute of Convergence Signal Processing
• /
• v.14 no.2
• /
• pp.124-129
• /
• 2013

Hexapod walking robots are superior to biped or quadruped ones in terms of walking stability. Therefore hexapod robots have the advantage in performing intelligent tasks based on walking stability. In this paper, we propose a hexapod robot that has one fore leg, one hind leg, two left legs, and two right legs and can perform various intelligent tasks. We build the robot by using 26 motors and implement a controller which consists of a host PC, a DSP main controller, an AVR auxiliary controller, and smart phone/pad. We show by several experiments that the implemented robot can perform various intelligent tasks such as uneven surface walking, tracking and kicking a ball, remote control and 3D monitoring by using data obtained from stereo camera, infrared sensors, ultra sound sensors, and contact sensors.

• The Journal of the Convergence on Culture Technology
• /
• v.4 no.4
• /
• pp.439-448
• /
• 2018

With the aim of examining changes in plantar pressure while walking depending on the position of carrying a bag, this study measured the plantar pressure of 33 normal male and female adults using the F-scan System in four different positions to carry a bag: walking without carrying a bag; walking with carrying a bag on both shoulders; walking with carrying a bag on one shoulder; and walking with carrying a bag in one hand. Changes in the plantar pressure of the subjects obtained in this study and the asymmetry of the left and right feet were analyzed. The plantar pressure of the different areas of the feet in the four different positions to carry a bag was compared. The left foot, except its toes and metatarsus, showed a statistically significant difference among the five conditions, and the right foot, except its 4th and 5th caput metatarsalis, also showed a statistically significant difference (P>.05). Given the results of this study, this experiment to examine changes in plantar pressure does not seem to be enough to identify which position to carry a bag, except carrying a bag on both shoulders, would have the lowest negative impact on the feet. It will be necessary to conduct a follow-up study on changes in plantar pressure depending on the position of carrying a bag and methods that can effectively treat abnormal positions such as scoliosis and kyphosis using asymmetric loads.

• 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.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2022.05a
• /
• pp.288-291
• /
• 2022

본 논문은 4족 지능 로봇의 비평탄 지형 극복 기능을 구현하기 위해, 시뮬레이션 환경에서 제공하는 역기구학(Inverse Kinematic)과 개선된 강화 학습 방법(Partially Observable Markov Decision Process)을 분석하여 수립한 알고리즘을 동작 검증을 위한 임베디드 보드(Embedded Board)에 실제 적용하여 보았다. 이 연구를 통해 4족 보행 로봇의 효율적인 지형 극복형 보행 방식 설계 방법을 제안하며, 특히 IMU 센서의 지능적인 균형제어 방법을 평가하고 다양한 통신방식과 서보모터 제어 방식을 실험하고 구현하였다. 또한 모터 가감속 제어를 통해 보다 부드럽고 안정적인 보행을 구현한다.

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

• Journal of the KSME
• /
• v.34 no.10
• /
• pp.787-795
• /
• 1994

이상과 같이 소개한 KIST 휴먼 로봇의 4족 보행시스템을 개발하는 데에 있어서 최대 목표는 보행제어의 지능화를 통해서 외관상 유사한 히타치사의 극한작업 로봇과 차별화시키는 것이다. 이를 위해서는 성능이 급격히 향상되어가고 있는 최신의 컴퓨터와 센서들을 적극 활용하면서 국내외 관련 전문가들이 축적하고 있는 노우 하우들을 최대한 활용하는 것이 필요하고, 기술적 으로는 걸음새의 지능제어, 반사제어, 소비동력의 최소화 등을 집중적으로 해결하는 것이 요구 된다. 휴먼 로봇 보행기구의 연구 성과는 궁극적으로 계단 등과 같은 단순 장애물은 물론 얼마나 악조건의 험로 위 자율 보행이 가능하고, 평제에서는 얼마나 빠른 최대 보행속도를 발휘할 수 있으며, 로봇에 탑재된 축전지만으로 얼마나 먼거리를 보행할 수 있는 지에 의해 그 질적 수 준이 판가름 나게 될 것이다. 이러한 점에서 이 과제의 추진은 국내의 로봇 연구 분야에 있어서 전혀 새로운 매우 거대한 도전이라고 할 수 있다.

• Journal of Korea Entertainment Industry Association
• /
• v.14 no.3
• /
• pp.383-392
• /
• 2020

This study was to compare the effects of joint mobilization, treadmill with insole, and joint mobilization and treadmill with insole on pain, pelvic angle, and foot pressure in patients with sacroiliac joint pain. 24 patients randomly assigned to joint mobilization group(n=8), treadmill with insole group(n=8), or joint mobilization and treadmill with insole group(n=8). Each groups were conducted 30 minutes a day, two days a week for four weeks. Pain was evaluated using visual analogue scale and pelvic angle was measured using palpation meter and foot pressure(fore/rear ratio) was measured using Gateview AFA-50 before intervention and after 4 weeks. All groups were significant differences pain in intragroup(p<.01). In pelvic angle, the joint mobilization group was statistically significant in the anterior tilt only, the joint mobilization and treadmill with insole group showed statistically significant improvement in both anterior and posterior tilt(p<.01), and the treadmill with insole group did not show any statistically significant change(p>.05). Also the joint mobilization and treadmill with insole group were significant differences in foot pressure(p<.01). All the interventions reduce sacroiliac joint pain and joint mobilization and treadmill with insole training are most effective changes in pelvic angle and foot pressure. This study can be used as a basic data for prevention of injury, posture correction and gait training in patients with sacroiliac joint pain, as well as chronic low back pain and plantar pressure problem.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.9 no.8
• /
• pp.1722-1729
• /
• 2005

In this paper, we used the quadruped walking robot Titan-VIII in order to carry out this simulation of sway compensation trajectory. The attitude angle ${\phi}_r$ and ${\phi}_p$ is obtained from 3-D motion sensor that is attached at the center of robot body and the attitude control carried out at every 10[ms] for stable gait of robot. Duty factor, that is fixed at 0.5. When we change period T into 1.5, 2.0, 3.0[sec] each and moving distance per period is changed into 0.2, 0.3(m), we sim띠ate several walking experiment of robot. and then we analyze the experiment results if there are any difference between the imaginary ZMP and actual ZMP of robot and the stable gait of robot is realized.