• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• 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.

• Journal of agriculture & life science
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• v.50 no.1
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• pp.167-178
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• 2016

This study was conducted to estimate genetic parameters for milk production and linear type traits in Holstein dairy cattle in Korea. The data including milk yields, fat yields, protein yields, fat percent, protein percent, somatic score and 15 linear type traits for 10,218 first parity cows collected by Dairy Cattle Improvement Center, National Agricultural Cooperative, Korea, which were calving from January 2009 to April 2013. Genetic and error (co)variances between two traits selected form 19 traits were estimated using bi-trait pairwise analyses with WOMBAT package. The estimated heritabilities for milk yield(MY), fat yield(FY), protein yield(PY), fat percent(FP), protein percent(PP), somatic cell score(SCS), udder depth(UD), udder texture(UT), median suspensory(MS), fore udder attachment(FUA), front teat placement (FTP), rear attachment height(RAH), rear attachment width(RAW), rear teat placement(RTP), front teat length(FTL), foot angle(FA), heel depth(HD), bone quality(BQ), rear legs side view(RLSV), rear legs rear view(RLRV) and locomotion(LC) were 0.128, 0.144, 0.100, 0.273, 0.333, 0.090, 0.179, 0.066, 0.104, 0.109, 0.127, 0.099, 0.059, 0.069, 0.154, 0.014, 0.010, 0.052, 0.065, 0.175 and 0.031, respectively. Among the genetic correlations, UD, UT, FTP, RAW, FTL, FA and RLSV with MY were -0.334, 0.271, 0.445, 0.544, 0.076, -0.281 and -0.228, respectively, and MS, FTP, RTP, FTL, FA, BQ, RLSV, RLRV and LC with PP were -0.147, -0.182, -0.262, -0.136, 0.355, 0.311, 0.135, 0.233 and 0.143, respectively. Especially, MY had the highest positive genetic correlation with RAW (0.544), while SCS had the highest negative genetic correlation with LC (-0.603). FP had negative genetic correlation with most udder traits, whereas, FP had positive genetic correlation with leg and hoof traits (0.056 - 0.355).