• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 전기학회논문지
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• 제58권2호
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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.

• 한국주거학회논문집
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• 제14권5호
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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.

• 제어로봇시스템학회논문지
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• 제9권12호
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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.

• 융합신호처리학회논문지
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• 제5권1호
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• pp.46-52
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• 2004

본 논문에서는 키 42cm, 몸무게 1.5kg으로 총 16 자유도를 가진 소형 인간형 로봇의 개발에 관하여 소개한다. 인간형 로봇은 많은 자유도를 가지기 때문에 개발을 쉽게 하기 위하여 제어가 간단한 RC 서보 모터를 구동기로 사용한다. 개발된 로봇은 또한 머리에 소형 디지털 카메라를 장착하고 있어서 주변의 환경에 대한 영상 데이터를 원격지에 있는 호스트 컴퓨터에 무선 모뎀을 통하여 전송할 수 있다. 개발된 로봇은 직진 보행, 회전 보행 등의 평지 보행뿐만 아니라 계단 보행도 수행할 수 있다. 로봇의 움직임을 생성하고 사전에 모의 실험해 볼 수 있는 그래픽 시뮬레이션프로그램과 경로 생성 프로그램은 호스트 컴퓨터에서 구동된다. 실험을 통하여 개발된 로봇이 계단 보행을 수행할 수 있음을 보인다.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제10권2호
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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.

• 한국운동역학회지
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• 제20권3호
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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.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2021년도 가을 학술논문 발표대회
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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.

• 한국운동역학회지
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• 제16권4호
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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.

• 한국강구조학회 논문집
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• 제27권2호
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• pp.181-193
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• 2015

심미성과 기능성이 현대 건축의 중요한 요소로 대두되면서 최근 비교적 경량의 고진동수 계단의 활용처가 점차 증가하고 있다. 하지만 국내의 실정 상 고진동수 계단의 진동성능을 평가하기 위한 방법이 전무한 실정이다. 유럽강구조학회의 지침의 경우 등가임펄스하중 개념을 도입하여 고진동수 바닥의 응답예측 및 진동성능 평가에 활용하고 있으나, 이는 서행보행에 대한 실험치를 토대로 제안한 값으로 2.2Hz 이상의 속보 가진에 대한 응답을 과대평가하는 한계를 지니고 있다. 이에 본 연구에는 1.4~4.5Hz의 다양한 가진진동수에 대한 가속도 응답의 실측값을 바탕으로 서행 및 속보 가진 시의 응답을 합리적으로 예측할 수 있는 등가임펄스 식을 제안하였다.