• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.296-299
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• 2001

We developed a motion capture system to get angle data of human joints in the walking mode. The motion capture system is a pair of leg-shape device, which is composed of three links with ankle, knee and pelvis joints. The sensors for measurement of the joint angle are potentiometers. We used an A/D converter to get digital data from joint angles, and which are used to simulate and coordinate the biped-walking robot developed in our laboratory. To simulate and analyze walking motion, animation based on three-dimension motion is performed using the open inventor software.

• 한국소음진동공학회논문집
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• 제21권10호
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• pp.934-939
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• 2011

This paper experimentally deals with the relationship between the ankle electromyogram(EMG) and walking motion in order to activate the ankle joint of a walking-assistance robot for rehabilitation. Based on the anatomical structure and motion pattern of an ankle joint, major muscles were selected for EMG measurements. Surface EMG signals were monitored for several human bodies at various stride distances and stride frequencies. Root-mean-squared magnitude of EMG signals were related with the walking conditions. It appeared that the magnitude of the ankle EMG signal was linearly proportional to the stride distance and stride frequency, and thus to the walking speed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• 한국운동역학회지
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• 제17권3호
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• pp.133-145
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• 2007

The purpose of this paper was to compare of difference between energy walking and normal walking. Subjects were selected 8 male undergraduates. The kinematic variables of a pelvis and a thorax were analysed at the take off and contact with 3d cinematography. In addition to the variables, the phase plot angle was calculated in order to definite characteristics in the phase space. The pelvic angle and angular velocity showed significant differences in the flexion/extension between two walking patterns. The pelvic angle and angular velocity were increasing when walking speed was increasing and magnitude of the variables of energy walking was larger than corresponding values for normal walking. On the other hand, the thoracic angle demonstrated significant differences in the flexion/extension and rotation between two walking patterns. The angles of energy walking were smaller in the flexion/extension and were larger in the rotation than the angle of normal walking. The kinematic characteristics of energy walking were also showed clearly significant differences in the range of motion and the relative angle of the trunk. The angle of phase plot only showed demonstrated a significant difference in the rotation at contact between the two walking patterns.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.151-155
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• 1996

In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.

• 대한통합의학회지
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• 제5권1호
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• pp.19-24
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• 2017

Purpose : The purpose of this study was to find out the difference motion of hip, knee and ankle joint during walking according to using walker on older people. Method : Korean older people of 34 subjects was participated in this study. Participants was measured joint motion on hip, knee and ankle joint during both conditions (walking with walker and without walker). The measured data were analyzed using independent t-test to investigate the difference of joint motion on the both condition. The statistical analyses were performed using Predictive Analytics Soft Ware (PASW) for windows(Ver. 19) and p-value less than .05 were considered significant for all cases. Result : The study showed that more joint motion on hip flexion and ankle pronation is increased by using walker. And hip extension, knee external rotation and ankle plantar flexion is decreased by using walker. Conclusion : This study suggest that using walker on older people was change the motion of the lower limb joint during walking. Therefore, It is necessary to develop a new walker that can reduce dependency and ensure stability on older people during walking.

• 한국컴퓨터그래픽스학회논문지
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• 제29권1호
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• pp.23-29
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• 2023

본 논문은 강화학습을 통해 이족보행에 대한 모션 캡처를 통해 참조 모션의 데이터들을 기반으로 근골격 캐릭터의 시뮬레이션을 적은 비용으로 높은 품질의 결과를 얻을 방법을 소개한다. 우리는 참조 모션 데이터를 캐릭터 모델이 수행할 수 있게끔 재설정을 한 후, 강화학습을 통해 해당 모션을 학습하도록 훈련시킨다. 참조 모션 모방과 근육에 대한 최소한의 메타볼릭 에너지를 결합하여 원하는 방향으로 근골격 모델이 이족보행을 수행하게끔 학습한다. 이러한 방법으로 근골격 모델은 기존의 수동으로 설계된 컨트롤러보다 적은 비용으로 학습할 수 있으며 높은 품질의 이족보행을 수행할 수 있게 된다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.375-377
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• 2009

This paper researched the algorithm of robot's walking and action on the basis of robot studied and made at our laboratory and studied how to efficiently control the robot joints by developing wireless Digital Servo Motor using Zigbee Sensor Network Module which is using at wide part recently. I realized the stable walking by adopt Press Sensor at the bottom of robot foot to get stability of walking. Also I let the algorithm calculate the robot movement to make the joint motion and monitored the robot walk to its motion. At this Paper, I studied the method organizing the motion by the each robot walking and measuring the torque applying to the joint. And I also knew that it is possible to make its control and construct hardware more conveniently than them of the existing studied and controling 2Legs Walking Robot by applying it at walking robot and developing wireless servo motor by Zirbee Sensor Network.

• 한국정밀공학회지
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• 제15권3호
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• pp.157-167
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• 1998

In this paper it is purpose that reduces joint torques and their rate of change through optimizing trajectory planning of biped walking machine. The motion of biped walking machine is divided into leg motion for walking and body motion for keeping balance. The leg motion is planned by three phases, that are deploy, swing, and place phases, in terms of the state of foot against floor. The distribution of time assigned to each phase is optimized and that causes leg joint torques and their rate of change to minimize. The body notion is produced by using optimal control theory which minimizes body joint torques and satisfies Z.M.P. constraints defined as region of each phase.

• 한국정밀공학회지
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• 제21권7호
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• pp.115-123
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• 2004

This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(Finite Difference Method). In this paper, optimal index is defined to dynamically stable walking of a biped robot, and genetic algorithm is applied to optimize gait trajectory and balancing motion of a biped robot. By genetic algorithm, the index of walking parameter is efficiently optimized, and dynamic walking stability is verified by ZMP verification equation. Genetic algorithm is only applied to balancing motion, and is totally applied to whole trajectory. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.