• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2654-2659
• /
• 2003

In this paper, we present biomimetic hopping strategy which is more human-like for legged robot through stiffness modulation. Stiffness value is calculated from the motion of body center of gravity. This method enable to reduce impact force on touch-down, adaption on ground stiffness change and height modulation. Simple selected models will be used to validate this method. For general model, singular perturbation is used for control and simulation using stiffness modulation is presented.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2008.04a
• /
• pp.573-578
• /
• 2008

Finite element analysis of impact response of a motorcycle helmet is presented in this paper. The finite element LS-DYNA3D code is used to simulate the impact response of the helmet including of plastic shell, foam liner, and magnesium headform. Since the maximum accelerations at center of gravity of the headform obtained by numerical analysis and experiment agree well, the numerical simulation is proved to be valid.

• Proceedings of KOSOMES biannual meeting
• /
• 2018.06a
• /
• pp.154-154
• /
• 2018

• Journal of Advanced Marine Engineering and Technology
• /
• v.26 no.4
• /
• pp.432-438
• /
• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2013.05a
• /
• pp.439-440
• /
• 2013

• Proceedings of the KIPE Conference
• /
• 2000.07a
• /
• pp.38-40
• /
• 2000

In this paper we propose a calculation method for fuzzy control based on quantized $\alpha$-cut decomposition of fuzzy sets. This method is easy to be implemented in analog hardware. The effect of quantization levels on defuzzified fuzzy inference results is investigated. A few quantization levels are sufficient for fuzzy control. The hardware implementation of this calculation method and the defuzzification by gravity center method by PWM are also presented.

• Journal of KSNVE
• /
• v.1 no.1
• /
• pp.39-43
• /
• 1991

In this study, the design concept of engine for 4WD vehicle is established by the experimental modal analysis. First, the relationships between frame and power transmission system are considered. Second, the effect of additional system (Front propeller shaft and Exhaust system) on the power transmission system is evaluated. As a result, it is desirable that of frame and power transmission system is shifted by the additional system. This is cause by the moment of inertia of the additional system, because the center of gravity location of the additional system is far from that of the power transmission system.

• 한국기계연구소 소보
• /
• s.10
• /
• pp.63-77
• /
• 1983

This paper presents the hydrodynamic performance characteristics of a planing boat which was tested with a new dynamometer system specifically designed to measure towing force along the thrust plane, the change in trim angle and the vertical displacement of the model center of gravity from still water condition. The test conditions include systematic variations in the three positions of LCG and the three load coefficients of a high speed planing boat.

• Proceedings of the KIEE Conference
• /
• 2000.07e
• /
• pp.40-43
• /
• 2000

Our studies diagnose insulation degradation using the method of computer sensing system, which has the advantages of PD(partial discharge) and AE(acoustic emission) sensing system. To use advantages of these two methods can be used effectively to search for treeing location and PD in some materials. In analysis method of degradation, using statically operator such as the center of gravity (G), the gradient of the discharge distribution(C), we have analyzed for the prediction of life which we can be obtained the time, occurred of many pulse of small discharge amplitude.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.105.2-105
• /
• 2002

$\textbullet$ Statically stable walk with COG(center of gravity) $\textbullet$ Dynamically stable walk with ZMP(zero moment point) $\textbullet$ Dynamically adaptational stable walk with FRI(foot ratation indicator) $\textbullet$ Simplified inverted pendulum model approach $\textbullet$ Analysis posture of biped's foot as passive joint $\textbullet$ Stability compensation method of FRI against falling down $\textbullet$ Simulation of ZMP and FRI to real biped robot IWR-III