• Journal of KIISE:Software and Applications
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• v.37 no.5
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• pp.354-362
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• 2010

This paper proposes a new method for a hierarchical analysis of human gait by dividing the motion into gait direction and gait posture using the tool of dynamic Bayesian network. Based on Factorial HMM (FHMM), which is a type of DBN, we design the Gait Motion Decoder (GMD) in a circular architecture of state space, which fits nicely to human walking behavior. Most previous studies focused on human identification and were limited in certain viewing angles and forwent modeling of the walking action. But this work makes an explicit and separate modeling of pedestrian pose and posture to recognize gait direction and detect orientation change. Experimental results showed 96.5% in pose identification. The work is among the first efforts to analyze gait motions into gait pose and gait posture, and it could be applied to a broad class of human activities in a number of situations.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2309-2311
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• 1998

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbance link. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional link attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling a proposed inverted pendulum is consisted of a state feedback control and a fuzzy logic controller. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. In these case, the change of the angle and COG of an upper link is compensated with on-line. Simulations with a mathematical model are conducted to show the validity of the proposed controller.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.3
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• pp.193-200
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• 2012

A numerical analysis is carried out in order to obtain aerodynamic data of the ski jump. The body modelling of Korean people is used in the numerical simulation and the result is validated by comparing it with the wind tunnel experiment. A flying posture, which provides the maximum lift-to-drag ratio, is found by analyzing the aerodynamic coefficients of various flight conditions. The result of the present study can be applied to fixing the postures of Korean ski players and is expected to advance the national sports science.

• Journal of Biomedical Engineering Research
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• v.20 no.4
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• pp.485-493
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• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

• Journal of Drive and Control
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• v.13 no.4
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• pp.82-88
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• 2016

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2693-2696
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• 2003

The national standard physique research of Korea is being conducted every 5-6 year term after its first research was started in 1979, the fourth research was conducted in 1997. The result of the national physique research was reflected in manufactured goods design of allied industries such as clothing, shoes, furniture. In this thesis, we measured anthropometry value for every bodily figurative classification after dividing users according to gender, age, bodily figure using the result of the national standard physique research. We constructed 3D character through the process of analyzing interrelation of measured anthropometry and measuring representative category. For the process for organization, we measured anthropometry which can express sports action of golf, tennis and etc effectively. We made it by Presenting measurement which is able to form each type of 3D character after the category was decided. Quantitative and objective valuation for posture and action became possible by developing visible information offer and posture action analysis protocol in theoretical approach for analysis of posture and action in sports.

• Proceedings of the Korea Contents Association Conference
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• 2006.11a
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• pp.631-634
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• 2006

The national standard physique research of Korea is being conducted every 5$\sim$6 year term after its first research was started in 1979. The result of the national physique research was reflected in manufactured goods design of allied industries such as clothing, shoes, furniture. In this thesis, we measured anthropometry value for every bodily figurative classification after dividing users according to gender, age, bodily figure using the result of the national standard physique research. We constructed 3D character through the process of analyzing interrelation of measured anthropometry and measuring representative category. For the process for organization, we measured anthropometry which can express sports action of golf, tennis and etc effectively. We made it by presenting measurement which is able to form each type of 3D character after the category was decided. Quantitative and objective valuation for posture and action became possible by developing visible information offer and posture action analysis protocol in theoretical approach for analysis of posture and action in sports.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2003.05a
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• pp.134-140
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• 2003

The national standard physique research of Korea is being conducted every 5∼6 year term after its first research was started 1979, the fourth research was conducted in 1997. The result of the national physique research was reflected in manufactured goods design of allied industries such as clothing , shoes, furniture. In this thesis, we measured anthropometry value for every bodily figurative classification after dividing users according to gender, age, bodily figure using the result of the national standard physique research. We constructed 3D character through the process of analyzing interrelation of measured anthropometry and measuring representative category. For the process for organization, we measured anthropometry which can express sports action of golf, tennis and etc effectively. We made it by presenting measurement which is able to form each type of 3D character after the category was decided. Quantitative and objective valuation for posture and action became possible by developing visible information offer and posture action analysis protocol in theoretical approach for analysis for analysis of posture and action in sports.