• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.267-272
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• 2004

In this Paper, we present analysis on the dynamics of human swing and its realization by a miniaturized humanoid robot. Since the motion of legs is the most important in the swing, the swing system can be approximated as a double pendulum. Based on Lagrangian analysis, the leg motion is designed to make the swing motion as sustained oscillation. In order to detect the peak instant of the swing and to synchronize the leg motion with the swing, we use ADXL acceleration/inclination sensor. The miniaturized humanoid in this paper has total 20 DOFs including 6 DOFs in each leg, 34cm in height, and 2kg in weight. As a result of realization of the swing by the humanoid, the sustained oscillation is verified through experiments.

• Annual Conference of KIPS
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• 2008.05a
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• pp.804-807
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• 2008

최근 고령화 사회가 되면서 언제 어디서나 실시간으로 진료가 가능한 서비스들을 개발하려는 노력이 진행 중이며, 이에 관련된 기술의 중요성도 급증하고 있다. 특히 유비쿼터스 컴퓨팅과 유비쿼터스 네트워크를 활용한 노인건강 관리시스템(이하 U-SilverCare)의 필요성이 급증하고 있다. 본 논문에서는 U-SilverCare에서 유용하게 사용될 수 있는 가속도 센서를 소개하고 U-SilverCare에서 가속도 센서 사용의 적합성 실험과 실험 결과를 분석한다.

• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.117-126
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• 2005

In this paper, it was suggested method to recognize the motion of a person(lying, sitting, walking, running) using fuzzy inference and wireless biologic signal processing system. These are to Perceive the motion of the person. Furthermore, the information of motion is indispensable parameter for Context Awareness (CA). In the present study, ADXL 202JE accelerometer sensor was used to measure for checking the continuance motion, biological quantify of motion, and motion pattern of a Person. The measured data was transmitted to CA server by Radio Frequency(RF). From the present result, we confirmed that it is difficult to decide the motion of walking and running with only the magnitude of the Longitudinal Accelerometer Average Value(LAAV) and moreover the covariance of LAAV in any block is very useful for CA of walking and running.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.4
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• pp.722-727
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• 2009

The technology of distinguishing human motion states is required in the areas of measuring and analyzing biosignals changing according to physical activities, diagnosing sleep disorder, screening the effect of treatment, examining chronic patients' kinetic state, prescribing exercise therapy, etc. The present study implemented a fuzzy inference system based on fuzzy rules that distinguish human motion states (tying, sitting, walking, and running) by acquiring and processing data of LAA, TAA, L-MAD, and T-MAD using ADXL202AE of Analog Devices embedded in an armband. The membership degree and fuzzy rules in each area of input (LAA, TAA, L-MAD, and T-MAD) and output (tying, sitting, walking, and running) data used here were determined using numeric data obtained from experiment. In the results of analyzing data for simulation generated in order of tying$\rightarrow$walking$\rightarrow$running$\rightarrow$tying, the sorting rate for motion states tying, sitting, walking, and running was 100% for each motion.

• Journal of Navigation and Port Research
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• v.35 no.10
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• pp.785-791
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• 2011

This paper describes the evaluation and selection of MEMS(Micro-Elect Mechanical System) based inertial sensor to fit to implement the Inertial Measurement Unit(IMU) for a small-sized vessel at sea. At first, the error model and the noise model of the inertial sensors are defined with Euler's equations and then, the inertial sensor evaluation is carried out with Allan Variance techniques and Monte Carlo simulation. As evaluation results for the five sensors, ADIS16405, SAR10Z, SAR100Grade100, LIS344ALH and ADXL103, the combination of gyroscope and accelerometer of ADIS16405 is shown minimum error having around 160 m/s standard deviation of velocity error and around 35 km standard deviation of position error after 600 seconds. Thus, we select the ADIS16405 inertial sensor as a MEMS-based inertial sensor to implement IMU and, the error reducing method is also considered with the search for reference papers.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.289-290
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• 2021

Recently, with the advent of the 4th industrial revolution, the role of robots is increasing, and the use of robots is also increasing in the service field. The most popular model for nonlinear research related to robots is the inverted pendulum system. A balancing robot using an inverted pendulum system is a representative nonlinear system and is mainly used to study control theory and other kinematic structures. In this paper, the state of the robot is measured using the 3-axis acceleration sensor (ADXL345) and 3-axis digital output gyro sensor (ITG-3200) or HMC5883L required for balancing robot control, and using the ESP32-WROOM-32 module. I want to design an MCU module that can control a balancing robot. In addition, by using the ESP32-WROOM-32 MCU module, we intend to design an MCU module that can monitor the state of the balancing robot based on WiFi or Bluetooth.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.439-439
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• 2000

In this paper, the relationship among the vertical acceleration, measuring points and walking patterns is analyzed. To measure acceleration, the acceleration measurement unit and communication board is constructed. It uses MEMS accelerometer ADXL-202 that detects 2-axis acceleration simultaneously. It is shown by the experiment test that the walking pattern is recognized and walking step is detected at easy when acceleration measurement unit is mounted on leg.. This results can be directly utilized in designing the personal navigation system with low-cost inertial sensor.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2411-2413
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• 2003

A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2546-2549
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• 2002

이족 로봇(A biped robot)의 안정된 보행과 움직임을 구현하기 위해서는 정밀 센서의 접목이 필수 사항이다. 센서의 정보를 종합한 다음 보행 및 움직임에 적용함으로써 로봇은 향상된 독립성과 자율성을 가지게 되고 그로 인해 지능형 로봇에 한층 더 접근할 수 있게된다. 본 논문에서는 이족로봇의 안정된 보행을 위해 기본이 되는 자세 기울어짐을 측정할 수 있는 가속도 센서를 이용한 이족로봇의 제어 방법을 다루고자 한다. 본 논문의 로봇은 소형 R/C servo motor를 사용하여 설계, 제작 하였으며, 하드웨어 시스템은 메인 CPU로 인텔사의 80C296SA50을 사용, 가속도 측정센서로는 Analog Device 사의 Accelerometer ADXL210를 사용하였다. 이와 같이 가속도 센서를 사용한 시스템은 로봇의 자세를 측정, 판단을 가능케 하여 실시간으로 로봇의 자세를 안정되게 보정 할 수 있어 외부의 변화되는 힘에 자율적으로 대처할 수 있다. 이 때문에 더욱 안정된 지능형 이족로봇을 구현할 수 있다.

• Journal of the Korean Society of Radiology
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• v.1 no.1
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• pp.39-44
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• 2007

In this study, wireless measurement technique for human motion was developed to monitor movement disorder patients during their daily life. MICA, TinyOS, and nesC, developed by UC Berkeley, were used as wireless sensor, its software platform, and programming language. The human motion data, generated by two axial accelerometer(ADXL202) was transmitted to PDA(iPaq3630) by 916Mhz short range communication chip(TR1000). It could be stored at PDA by simple Windows CE programming. To test the developed device, it was attached at human chest and the acquired data was shown as a graph during his motion of sitting, standing, and lying. The result showed that human motion could be logged without any hooking and constraints. Therefore, this device can be used to monitor patient's movement disorder and activity of daily life(ADL).