• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• Journal of Biomedical Engineering Research
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• v.22 no.4
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• pp.359-368
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• 2001

A new knee-ankle-foot-orthosis(KAFO) which uses an automatically-controlled electromechanical wrap spring clutch for the knee joint was developed in the present study. It was found that the output voltage from the foot switches of the developed KAFO was proportionally increased with respect to the applied load. The output voltage from the infrared sensor also decreased as the knee flexion angle increased. The knee joint system for the new KAFO weighs only 780g lighter than any other commercially available developed system. In addition, the solenoid reduces the reaction time for the automatic control of the knee joint. The static torque of the clutch was measured for three persons, and it satisfied the normal knee extension moment during the pre-swing. Three-dimensional gait analyses for three different gait patterns (normal gait, locked-knee gait, controlled-knee gait) from five normal subjects were conducted. Controlled-knee gait showed the maximum knee flexion angle of 40.56$\pm9.55^{\circ}$ and the maximum knee flexion moment of 0.20$\pm$0.07Nm/kg at similar periods in the normal gait. Our KAFO system satisfies both stability during stance phase and free knee flexion during the swing phase at the proper period during the gait cycle. Therefore, our KAFO system would be very useful in various low extremity orthotic applications.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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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.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.9
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• pp.547-555
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• 2005

A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes fault-tolerant gait planning of a quadruped robot walking over a rough planar terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. In this Paper, two-phase discontinuous gaits are presented as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. Based on the two-phase discontinuous gait, quasi follow-the-leader(FTL) gaits are constructed which enable a quadruped robot to traverse two-dimensional rough terrain after an occurrence of a locked joint failure. During walking, two front legs undergo the foot adjustment procedure for avoiding stepping on forbidden areas. The Proposed wait planning is verified by using computer graphics simulations.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.5 no.4
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• pp.19-30
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• 2002

The stability of slope using root-pile like to the reinforcements is affected by the interaction behavior mechanism of soil-reinforcements. Through the studying on the interaction in joint of its, therefore, the control roles can be find out in installed slope. In study, the stress level ratio based on the insert angle of installed reinforcements in soil used to numerical analysis, which was results from the duty direct shear test in Lab. The maximum shear strain variation on the reinforcements was observed at insert angle, which was approximately similar to the calculated angle based on the equation proposed by the Jewell. The elasto-plastic joint model on the contact area of soil-reinforcements was presumed, the reinforced soil assumed non-linear elastic model and the reinforcements supposed elastic model, respectively. The finite element analysis of assumed models was performed. The shear strain variation of non-reinforced state obtained by the FEM analysis including elasto-plastic joint elements were shown the rationality of general limit equilibrium analysis for the slope failure mode on driving zone and resistance zone, which based on the stress level step according to failure ratio. Through the variation of shear strain for the variation of inserting angle of reinforcements, the different mechanism on the bending and the shear resistance of reinforcements was shown fair possibility.

• Computers and Concrete
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• v.18 no.2
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• pp.235-266
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• 2016

A rock mass containing non-persistent joints can only fail if the joints propagate and coalesce through an intact rock bridge. Shear strength of rock mass containing non-persistent joints is highly affected by the both, mechanical behavior and geometrical configuration of non-persistent joints located in a rock mass. Existence of rock joints and rock bridges are the most important factors complicating mechanical responses of a rock mass to stress loading. The joint-bridge interaction and bridge failure dominates mechanical behavior of jointed rock masses and the stability of rock excavations. The purpose of this review paper is to present techniques, progresses and the likely future development directions in experimental and numerical modelling of a non-persistent joint failure behaviour. Such investigation is essential to study the fundamental failures occurring in a rock bridge, for assessing anticipated and actual performances of the structures built on or in rock masses. This paper is divided into two sections. In the first part, experimental investigations have been represented followed by a summarized numerical modelling. Experimental results showed failure mechanism of a rock bridge under different loading conditions. Also effects of the number of non-persistent joints, angle between joint and a rock bridge, lengths of the rock bridge and the joint were investigated on the rock bridge failure behaviour. Numerical simulation results are used to validate experimental outputs.

• Structural Engineering and Mechanics
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• v.77 no.1
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• pp.89-102
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• 2021

Rapid construction of prefabricated bridges requires minimizing the field work of precast members and ensuring structural stability and constructability. In this study, we conducted experimental and analytical investigations of transverse joints of prefabricated T-girder bridge superstructures to verify the flexural performance and serviceability. In addition, we conducted parametric studies to identify the joint parameters. The results showed that both the segmented and continuous specimens satisfied the ultimate flexural strength criterion, and the segmented specimen exhibited unified behavior, with the flexural strength corresponding to that of the continuous specimen. The segmented specimens exhibited elastic behavior under service load conditions, and the maximum crack width satisfied the acceptance criteria. The reliability of the finite element model of the joint was verified, and parametric analysis of the convexity of the joint section and the compressive strength of the filler concrete showed that the minimum deflection and crack width occurred at a specific angle. As the strength of the filler concrete increased, the deflection and crack width decreased. However, we confirmed that the reduction in the crack width was hardly observed above a specific strength. Therefore, a design suitable for prefabricated bridges and accelerated construction can be achieved by improving the joint specifications based on the required criteria.

• Korean Journal of Computational Design and Engineering
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• v.21 no.4
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• pp.426-432
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• 2016

Designing a morphologically well-fitted hip implant to a patient anatomy is desirable to improve surgical outcomes since a commercial ready-made hip implant may not well conform to the patient joint. In this study, biomechanical stability of patient-specific hip implants with two different stem lengths was compared and discussed using a 3D finite element analysis (FEA). The FEA results in this study showed that an increase in stem length brings about more the peaked von-Mises stress (PVMS) in the prosthesis and less in the femur. However the decrease in von-Mises stress in the femur causes stress shielding phenomenon that usually leads to considerable bone resorption. Although, in biomechanical stability point of view, this work recommends the use of smaller stems, the length of stem must be determined by considering both the von-Mises stress and the stress-shielding phenomenon.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.446-449
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• 2002

Quadruped walking robot requires dynamic control to keep its stability in high speed walking. To keep its walking stability by control of only legs' Joint angle lowers energy efficiency. It is known that an animal or a human use the moving of the mass center of one's upper body to keep the stability. We have developed a quadruped walking robot with weight balancing oscillator that have high energy efficiency. In this study, walking tests are performed for the robot to verify the validity of the weight balancing oscillator.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2005.05a
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• pp.1-4
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• 2005

This study is to examine adhesion the characteristics of self adhesive asphalt to minimize of the construction periods and the environmental problems through the performance estimation of materials to reduce waterproof problem and the long durability maintenance of building structures. This study tested the estimation items of self rubberized adhesive asphalt to examine the sheet discovered the most important problem in the construction site and the connection stability in the sheet joint. Besides, this study examined the material characteristics such as tension property, tear property, temperature dependence, heat resistance, adhesion stability and so on. Test results of the separative items satisfied in the reference figure of connection stability and adhesion stability which could confirm adhesion performances and other items also satisfied in the reference.