• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.397-397
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• 2000

This paper presents a gait control scheme for teleoperation of a quadruped-walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of a moving trajectory. When the direction of the velocity command is changed, the periodic gait is not available because this requires an initial foot position . This paper proposes the aperiodic gait control scheme that can converge to a periodic gait Simulation results are given to demonstrate the efficiency of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.104.3-104
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• 2002

A quadruped stair robot introduced here plays a role in monitoring and moving some place where an operator can not reach or when he may not keep watching. It has several features that travels and poses variable position by four caterpillars and quadruped typed arms, transmits an image and command data via RF wireless and network communication. The robot can balance itself when it moves up and down on a slope by using the quadruped mechanism. The robot vision scans ahead before it moves, and the captured image is transferred to a main computer via a RF image module. The main computer analyzes the obstacle, and when it is found the obstacle, the robot avoids from the obstacle and keep moving f...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.1-105
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• 2002

$\textbullet$ This paper deals with obstacle avoidance of a quadruped robot with a vision system and a PSD sensor. $\textbullet$ The vision system needs for obstacle recognition toward robot. $\textbullet$ Ths PSD sensor is also important element for obstacle recognition. $\textbullet$ We propose algorithm that recognizes obstacles with one vision and PSD sensor. $\textbullet$ We also propose obstacle avoidance algorithm with map from obstacle recognition algorithm. $\textbullet$ Using these algorithm, Quadruped robot can generate gait trajectory. $\textbullet$ Therefore, robot can avoid obstacls, and can move to target point.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.2
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• pp.329-338
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• 1994

This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.703-710
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• 2004

This paper presents discontinuous zigzag gait analysis for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. An articulated spine walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. First, we suggest a kinematic modeling of an articulated spine robot which has new parameters such as a waist-joint angle, a rotate angle of a front and rear body and describe characteristics of gait using an articulated spine. Next, we compared the difference of walking motion of newly modeled robot with that of a single rigid-body robot and analyzed the gait of an articulated spine robot using new parameters. On the basis of above result, we proposed a best walking motion with maximum stability margin. To show the effectiveness of proposed gait planning by simulation, firstly the fastest walking motion is identified based on the maximum stride, because the longer the stride, the faster the walking speed. Next, the gait stability margin variation of an articulated spine robot is compared according to the allowable waist-joint angle.

• KIPS Transactions on Software and Data Engineering
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• v.12 no.5
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• pp.237-242
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• 2023

Research on high-performance walking robots is being actively conducted, and quadruped walking robots are receiving a lot of attention due to their excellent mobility and adaptability on uneven terrain, but they are difficult to introduce and utilize due to high cost. In this paper, to increase utilization by applying intelligent functions to a low-cost quadruped robot, we present a method of improving uneven terrain overcoming ability by mounting IMU and reinforcement learning on embedded board and automatically detecting objects using camera and deep learning. The robot consists of the legs of a quadruped mammal, and each leg has three degrees of freedom. We train complex terrain in simulation environments with designed 3D model and apply it to real robot. Through the application of this research method, it was confirmed that there was no significant difference in walking ability between flat and non-flat terrain, and the behavior of performing person detection in real time under limited experimental conditions was confirmed.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.6
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• pp.1235-1241
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• 2012

In this paper, each driving motor for leg joints on a robot is controlled by estimating the direction of the legs measuring each joint angle and attitude angle of robot. We used quadruped working robot named TITAN-VIII in order to carry out this experimental study. 4 load cells are installed under the bottom of 4 legs to measure the pressed force on each leg while it's walking. The walking experiments of the robot were performed in 8 different conditions combined with duty factor, the length of a stride, the trajectory height of the foot and walking period of robot. The validity of attitude control for quadruped walking robot is evaluated by comparing the pressed force on a leg and the power consumption of joint driving motor. As a result, it was confirmed that the slip-condition of which the foot leave the ground late at the beginning of new period of the robot during walking process, which means the attitude control of the robot during walking process wasn't perfect only by measuring joint and attitude angle for estimating the direction of the foot.

• Journal of Electrical Engineering and Technology
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• v.11 no.5
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• pp.1433-1440
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• 2016