• 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.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• Journal of the Korean housing association
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• v.14 no.5
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• pp.105-116
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• 2003

The purpose of this study is to suggest the method of prevention of staircase accidents, and to make housing environment better through researching the dimension of a housing staircase for Korean. The scope and method of this thesis is to investigate the dimension limits of a staircase (slope, minimum width of tread, maximum height of riser), and to analyze the characteristics of foot condition (jutting rate, foot angle, ball joint, nosing clearance, clearance distance) using the experiment which takes a photograph of foot motion during walking stairs. The results of this thesis are as follows. The slope of a staircase in house is $32.3^{\circ}$$^{\circ}$-$42.1^{\circ}$$^{\circ}$. The riser should be less than 190 mm. The minimum size of tread is 210 mm and proper size is 270 mm.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1026-1032
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• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.1
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• pp.46-52
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• 2004

In this paper, we introduce a case study of developing a miniature humanoid robot which has 16 degrees of freedom, 42 cm heights, and 1.5kg weights. For easy implimentation, the integrated RC-servo motors are adopted as actuators and a digital camera is equipped on its head. So, it can transmit vision data to a remote host computer via wireless modem. The robot can perform staircase walking as well as straight walking and turning to any direction. The user-interface program running on the host computer contains a robot graphic simulator and a motion editor which are used to generate and verify the robot's walking motion. The experimental results show that the robot has various walking capability including straight walking, turning, and stairs walking.

• Journal of The Korea Institute of Healthcare Architecture
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• v.10 no.2
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• pp.125-133
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• 2004

Safety, accessibility and distinguishment as the concept of architectural planning and design are demanded in staircases due to increase of the old aged people and disabled people's enlarged social participation. In this research is tried to provide the importance of vertical walking function at the design for the staircases. For this reason, structural elements of the staircases are studied in the ergonomic aspect for barrier-free environment and a comparative study is made on the regulations of the staircases in the inside and outside of the country in disabled & aged people's view. Based on this study, the quality of the staircases in public facilities and Apartments is analyzed. As the result, it has been proved that the vertical walking function of the staircases is the most fundamental characteristic of the staircases design before everything else.

• Korean Journal of Applied Biomechanics
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• v.20 no.3
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• pp.267-275
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• 2010

The purpose of this study was to investigate the effects of balance ability improvement exercise program which applied to the elderly people for increasing balance, stability and range of motion. Ten elderly people and ten university students were recruited as the subjects. Kinematic data were collected by seven real-time infrared cameras while subjects walk stair descent as a pre-test. Korean folk dance exercise program was applied to the elderly for 12 weeks. Same experiment on stair descent walk was performed as post-test. Results indicated that CM movement and selected joint angle patterns of elderly group after treatment changed to the similar patterns of young group. However, ankle joint angle and vertical GRF of elderly group after treatment also increased compared to those of the elderly group before treatment. This might be explained by the fact that elderly used a different walking strategy which maximize support base for increasing stability. Overall, these results indicated that the exercise treatment may affect to adapt and improve the gait pattern of stair descent of elderly people.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.11a
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• pp.204-205
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• 2021

In the event of a fire in a high-rise building, rapid evacuation through the stairwell is a very important factor in rapid evacuation. However, in the event of an actual fire, most of the occupants evacuate at the same time, resulting in a stay in the stairwell, reducing the evacuation speed. In Korea, conditions for buildings are created to evacuate quickly and safely while introducing performance-oriented designs to solve these problems, but there is no research data related to the evacuation speed due to joining in the event of vertical evacuation. Therefore, in this study, by analyzing the experiment conducted at W University in Japan, the density-speed relationship when staying in the staircase room was derived, and the regression equation was derived based on the results.

• Korean Journal of Applied Biomechanics
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• v.16 no.4
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• pp.31-38
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• 2006

The purpose of this study was to investigate the effect of changing the steps height on the joint moment of lower extremity in stair-descent activity of elderly persons. Data were collected by 3-D cinematography and force platform. 9 male elderly subjects in the 60s and 70s participated in this study. All subjects performed a stair-descent in four different heights of stairs (10, 14, 18, 22cm) having 5 step staircase. The results were as follows. 1. For the step height of 22cm the maximum. plantarflexion moment was the smallest and the largest for the step height of 14cm. 2. There was not a statistical difference shown for the extension moment of the knee joint for the different height of steps. 3. There was not a statistical difference shown for the flexion moment of the hip joint for the varying height of steps but on average for the 18cm step this increased rapidly. 4. The smallest maximum. value for inversion moment was revealed for the step height of 10cm and this increased significantly for the step height of 22cm. 5. The smallest maximum. value for abduction moment of the hip joint was revealed for the step height of 10cm and this increased significantly for the step height of 22cm. 6. There was no significant difference shown for the maximum. abduction moment for the hip joint. The main conclusion is that there is a huge difference in the moment of the lower extremities for the elderly while walking down a stairs with a step height above 18 cm and that this moment increased or decreased rapidly under a condition of step height being 22cm. With the results from this research and related research of elderly walking upstairs it can be shown that the step height has a large role in the safety for the elderly.

• Journal of Korean Society of Steel Construction
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• v.27 no.2
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• pp.181-193
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• 2015

High-frequency staircases are widely used nowadays to meet aesthetics and functionality needed in modern architecture. Unfortunately, no design guide is available in domestic practice to predict response or evaluate the vibration performance of high-frequency staircases. SCI-P354 published by the Steel Construction Institute of UK provides the formula for effective impulsive force. However, this formula was shown to overestimate the response of high-frequency staircases excited by fast ascending and descending over 2.2Hz pace frequency because it was developed based on the walking test in a slow pace frequency. This study proposes a semi-analytical formula to predict the response of stiff staircases based on analytical and experimental studies of response acceleration for various walking frequencies covering 1.4~4.5Hz.