• Journal of Electrical Engineering and Technology
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• 제11권3호
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• 한국소음진동공학회논문집
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• 제13권1호
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• pp.10-18
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• 2003

This paper presented a design and control of a biped walking RGO(robotic gait orthosis) and its simulation. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO system will be made of 12-servo motors and 12-controllers. The vibration evaluation of the dynamic PLS(posterior leaf splint) on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 Hz. The galt of the biped walking RGO depends on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the biped walking RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The Joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties. we made the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS.

• 한국정밀공학회지
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• 제22권7호
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• pp.112-121
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• 2005

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.752-759
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• 2002

This paper presented a design and a control of a biped walking RGO and walking simulation by this system. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO type with 12-servo motors. The vibration evaluation of the dynamic PLS on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. The gait of a biped walking RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by a ZMP (Zero Moment Point) of the biped walking RGO. It was designed according to a human wear type and was able to accomodate itself to a human environments. The joints of each leg were adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to recover effectively with a biped walking RGO.

• 대한물리치료과학회지
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• 제9권1호
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• pp.81-88
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• 2002

This paper presents a design and a control of a New Reciprocating Gait Orthosis and dynamic walking simulation for this system. The New Reciprocating Gait Orthosis is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a New Reciprocating Gait Orthosis depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the New Reciprocating Gait Orthosis. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal card injury patients are able to train effectively with a Reciprocating Gait Orthosis. The New Reciprocating Gait Orthosis was able to keep smooth walling by the orthotic servo motors and hybrid system, make a sequence of flexion and extension of the joint during the walking. Also, the New Reciprocating Gait Orthosis turned out to be a satisfactory orthosis for walling training, for the spinal cord injury patient.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.882-887
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• 2003

This paper presented a design and control of a new RGO(reciprocating gait orthosis)and its simulation. The new RGO was distinguished from the other one by which had a very light-weight and a new RGO(reciprocating gait orthosis) system. The vibration evaluation of the hip joint system on the new RGO(reciprocating gait orthosis)was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 ㎐. The gait of the new RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the new RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties, we made the hip joint system of FEM and the hip joint system by 1-axis and 3-axis Accelerometers.

• 한국전자통신학회논문지
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• 제13권6호
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• pp.1191-1198
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• 2018

윈드프로파일러 레이더는 고정점에서 대기물리 신호와 바람 벡터의 연직 프로파일을 제공한다. 바람 벡터는 제조사의 자료 처리 프로그램으로 산출되기 때문에 품질 관리에 한계가 있다. 따라서 바람 벡터의 품질을 향상시키기 위해서 원시 스펙트럼 자료의 이해와 활용이 이루어져야 한다. 바람 벡터의 원시 자료는 바이너리 형태로 저장되는 파워 스펙트럼 밀도이다. 본 연구에서는 원시 자료를 실수형 스펙트럼 밀도로 변환하는 알고리즘을 완성하고 스펙트럼 기반 0차와 1차 모멘트를 구현하여 원시 자료의 활용을 평가하였다.

• 대한토목학회논문집
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• 제9권1호
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• pp.79-87
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• 1989

본(本) 연구(硏究)는 앵커의 경사도(傾斜度)가 널말뚝의 거동(擧動)에 미치는 영향(影響)을 모형실험(模型實驗)의 결과(結果)로부터 분석(分析)한 것이다. 앵커 경사(傾斜)의 증가(增加)는 널말둑의 수직(垂直) 수평변위(水平變位), 앵커의 하중손실(荷重損失) 및 유지(維持)된 모래의 침하량(沈下量)에 크게 영향(影響)을 미치지만, 휨 모멘트의 크기에는 영향(影響)이 적은 것으로 나타났다. 또한 널말뚝의 수직침하(垂直沈下)에 대한 부마찰력(負摩擦力)은 말뚝 길이의 0.71~0.80배(倍)인 굴착(掘鑿) 깊이에서의 강복점(降伏點)을 가진다. 굴착(掘鑿)으로 인한 토압(土壓) 재분포(再分布)는 soil arching 현상을 고려해야 하고, 토압(土壓)이 0인 지점(支點)은 기존의 자유단지설계방법(自由端支設計方法)에 의한 위치(位置)보다 약 20% 상부(上部)에 있고, 활동면(滑動面)과 최대주응력면(最大主應力面)이 이루는 각(角) $45^{\circ}+{\phi}/2$ 보다 크다는 것을 확인하였다.

• 한국지능시스템학회논문지
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• 제25권3호
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• pp.248-253
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• 2015

휴머노이드 로봇이 인간의 생활환경에 적응하여 미션을 수행하기 위해서는 최소 아동과 비슷한 키를 가져야 한다. 본 논문에서는 아동과 비슷한 키의 1m 이상 휴머노이드 로봇의 설계에 대하여 다루고 있다. 구체적으로는 휴머노이드 로봇의 기구학, 3차원 모델 설계, 메커니즘 개발, 그리고 서보모터와 소형 PC를 이용한 하드웨어 구조를 제시하였다. 이 과정을 통하여 1m 10cm, 무게 8.16kg의 아동형 휴머노이드 로봇 'CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary Systems)' 를 설계하고 제작하였다. 로봇의 보행을 위해 ZMP 기반 보행기법을 적용하고, 보행패턴 생성 알고리즘을 적용하였다. 그리고 보행 실험을 통하여 보행패턴 파리미터의 설정에 따른 보행패턴의 생성 및 변화를 분석하였다.

• 한국시뮬레이션학회논문지
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• 제20권1호
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• pp.51-59
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• 2011

본 논문은 다양한 지면에 적응 가능한 견형 4족 로봇의 위치 이동에 관한 것으로 정 보행과 동 보행의 구현 방법 및 특성을 주로 다루었다. 이를 위하여, 총 12 자유도의 로봇을 자체 제작하였으며, 몸통과 발의 운동궤적을 생체 모방 방식으로 생성한 후 역기구학에 의하여 그에 해당하는 각 다리의 관절각을 해석적으로 구하였다. 이러한 관절각 데이터를 상기 로봇의 ADAMS 모델에 적용하여 컴퓨터 시뮬레이션을 수행한 결과, 계획된 걷기 및 속보 걸음새가 동력학적으로 안정함을 확인하였다. 그러나 그 이전의 속보 패턴의 경우에는 시뮬레이션 결과와는 달리 실험 중 불안정한 거동을 보였다. 그에 따라 원인 분석을 하는 과정 중, 속보와 같은 동 보행의 경우 ZMP보다는 WSM의 개념을 적극적으로 활용하고 보행 주기를 최대한 단축시키는 것이 안정성 확보에 매우 중요함을 발견하였다.