• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.555-561
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• 2008

This Paper introduces new approach to develop fast and reliable gaits for quadruped robot using GA(genetic algorithm). Planning gaits for legged robots is a challenging task that requires optimizing parameters in a highly irregular and multidimensional space. Recent approaches have problems to select proper parameters which are not known in advance and optimize more than ten to twenty parameters simultaneously. In our approach, the effects of major gait parameters are analysed and used to guide the search more efficiently. The experiments of Sony AIBO ERS-7 in Webots environment indicate that our approach is able to produce much improved results in fast velocity and reliability.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.882-887
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• 2008

In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

• 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

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.740-742
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• 2022

본 프로젝트에서는 다양한 지형에 구애받지 않고 전천후로 활동할 수 있는 로봇을 구현하기 위해 바퀴형 로봇 보다는 4족 보행 로봇을 채택하여 지형 극복에 더 유리하고 안정적인 자세 제어와 보행을 할 수 있는 동시에 LiDAR 센서와 카메라 모듈을 이용한 SLAM(동시적 위치 추정 및 지도작성)과 원격으로 사물과 사람들을 파악할 수 있는 원격조종 탐사로봇을 개발하고자 한다.

• Proceedings of the Korean Society of Disaster Information Conference
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• 2023.11a
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• pp.83-84
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• 2023

4족 보행 로봇을 투입하기 위해서는 로봇을 운반할 수 있는 차량이 필요하며 특히 본 연구에서는 군용 작전 지휘 차량을 벤치 마킹하여 화재 진압용 TCMV(Tactical Command Monitoring Vehicle)를 개발하고자 하였다. TCMV를 통해 4족보행 로봇이 화재 현장에 진압할 수 있도록 시나리오를 개발하고 있으며, 아울러 TCMV의 요구사양을 정의 하기 위하여 소방관을 중심으로 의견을 수렴하여 화재 진압의 전략을 개발하고 있다. 추후 TCMV에 적합한 차량과 각종 모니터링 시스템을 구축해 4족 보행 로봇의 화재 진압 기능과 구조 기능을 극대화 하며 새로운 화재 진압 전술이 될 것으로 기대된다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.673-678
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• 2011

This paper analyzes the standing balance of four-legged robots which are useful for delivering objects or investigating of information. For this, we specify an effective model of general four-legged robots and propose a boundary condition based on the standing stability of the four-legged walking. To verify such a standing balance, we consider some exemplary free motions at the standing mode of the robot and discuss on the robot's balance margin. The analysis specified in this paper will be applicable for effective balancing control of various quadruped robotic walking.

• Journal of Space Technology and Applications
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• v.1 no.1
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• pp.64-75
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• 2021

On the moon as well as the earth, one of the easiest ways to understand geological formation history of any region is to observe the stratigraphy if it is available, the order in which the strata build up. By analyzing stratigraphy, it is possible to infer what geological events have occurred in the past. Mare Nubium also has an unique normal fault called Rupes Recta that shows stratigraphy. However, a rover moving with wheels is incompetent to explore the cliff since the Rupes Recta has an inclination of 10° - 30°. Therefore, a quadruped walking robot must be employed for stable expedition. To exploration a fault with a four-legged walking robot, it is necessary to design an expedition route by taking account of whether the stratigraphy is well displayed, whether the slope of the terrain is moderate, and whether there are obstacles and rough texture in the terrain based on the remote sensing data from the previous lunar missions. For the payloads required for fault surface exploration we propose an optical camera to grasp the actual appearance, a spectrometer to analyze the composition, and a drill to obtain samples that are not exposed outward.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.617-623
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• 2012

In this paper, we propose a gait generation method for a quadruped robot to walk efficiently on the slope, which uses the waist joint of a quadruped robot. We derive the kinematic model of a quadruped robot with waist joint using the Denavit-Hartenberg representation method and the algebraic method. In addition, the gaits are generated based on the wave gait. In the proposed gait generation method, first in order to alleviate the mechanical restriction and the reduction of the stride, we determine the appropriate waist joint angle according to the slope degree, and then decide the location of the tiptoe of a quadruped robot by exploring the workspace. Finally, through computer simulations, we verify the effectiveness and applicability of the proposed method.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.