• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.576-580
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• 1997

This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.600-606
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• 2013

This paper describes the development of a novel walking assistance robot for the elderly and infirm. In the case of simple walking assistance devices, the walking safety and effectiveness are somewhat low; hence, caregivers are frequently required. The walking assistance robot developed in this research is capable of securely and conveniently assisting a walking user by using electric motors and various devices without a caregiver. The main features include the following. First, the walking safety is improved by using a pelvis supporter, and the robot is able to follow the user effectively by means of ergonomic motion sensors and electric powered wheels. Second, it is possible to adjust the load applied to the lower body by adjusting the height of the pelvis supporter. Finally, it is possible to inform the approximate distance and direction of any obstacle around the robot using the sounds and vibrations for the blind and the hearing impaired. The performance of the developed walking assistance robot was successfully verified using a walking assistance test in a narrow-corridor environment.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제22권1호
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• pp.7-15
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• 2016

Purpose: There are the number of color tactile walking surface indicators installed in Korea, because of indefinite regulation in blind and vision-impaired persons' tactile walking surface indicators. In case of yellow tactile walking surface indicators, it shows a deviation severe color. In this study, the researchers suggested color and brightness reference for helping blind and vision-impaired persons' walking through analyzing the color references of tactile walking surface indicators and the color luminance between tactile walking surface indicators and sidewalk currently used. Method: Reasonable luminance contrast criteria is suggested by examining ways of improving the recognition and recognition of objects according to color contrast visually impaired through literature review and analyzing standards of tactile walking surface indicators and the Europe, Japan and Australia of color and luminance contrast criteria. And by examining the color of the tactile walking surface indicators reported in Korea currently used to derive the problem presented by the luminance contrast in the reference and comparison. Finally, the visually impaired tactile walking surface indicators is set for color selection criteria for the recognition rate improves. Results: In order to improve the recognition rate to be tactile walking surface indicators of the contrast of the visually impaired and the environment than the color of the tactile walking surface indicators itself to secure always a certain level or more of brightness contrast values in the set of the color of the tactile walking surface indicators so important. Implication: In order to set the blind tactile walking surface indicators color recognition based on the verification of the real pedestrian based on the results presented in this paper it is required. It is to be understood as an element of the barrier free configuration for securing the walking pedestrian safety.

• 한국인터넷방송통신학회논문지
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• 제17권2호
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• pp.173-178
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• 2017

과거부터 로봇의 실생활 활용에 관한 연구가 지속됨에 따라 현대사회에서 이전까지의 실험 환경에서 벗어나 사회 각 분야로의 진출이 지속적으로 시도 되고 있다. 하지만 로봇이 실제 환경에 적용되기 위해서 기존의 로봇 플랫폼 상용화의 가장 큰 단점으로 꼽히는 생산 비용과 인간 기준의 작업환경에서의 적응성 문제가 선결되어야 한다. 본 논문에서는 사람의 자유도와 크기를 따르는 이족보행 형태의 로봇을 제안하였으며, 엔코더를 포텐셔미터 접목모듈로 대체하여 높은 생산 단가를 절감하고, 파트 교체가 쉬운 모듈형 설계를 채택하여 로봇의 유지 보수비용을 절감 하였다. 최종적으로 크기와 모터의 배열이 다른 두 가지의 더미로봇에 보행패턴을 적용하여 안정성을 검증하였고, 본 논문에서는 제작된 실제 로봇들을 이용한 보행 패턴을 적용 및 보행 실험을 통하여 제안한 이족보행 로봇 적용가능성을 검증하였다.

• 교육녹색환경연구
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• 제10권1호
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• pp.53-63
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• 2011

The purpose of this study is to suggest a scheme to provide children safer and more comfortable walking circumstances by survey current walking circumstances of schoolzone ways. A scheme suggested in this study was based on the analysis of survey to elementary school in 3 Newtowns(Dongtan, Dongbaek and Gumdan City) and actually surveyed data on school zone, the scheme can be summed up as follows; First, to avoid pedestrian roads being interrupted and to expend waiting space near schoolzone ways, several measures are needed including fixing roads and building additional gateway. Second, pedestrian crossings in front of school gate should be located at least 30m away from the left side of the gate. Third, to secure pedestrians' safety in school zone ways should be planed and established more security concepts und facilities.

• 한국주거학회논문집
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• 제22권2호
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• pp.83-90
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• 2011

This research analyzes the residents' satisfaction for the pedestrian space of multi-family housing based on quality index. For this purpose, nine apartment complexes which were built after 2000, are selected and examined by user characteristics of composition factors of pedestrian space. This research also compares residents' satisfaction by evaluation factors of walking environment. The resident survey reveals that the composit type of apartment gives the highest satisfaction to residents followed by a courtyard type, and a straight type the last. In particular, residents show high satisfaction to pedestrian-only space in the case of the composit type of apartment building. The most important factor of walking environment on residential satisfaction is the separation of car and pedestrian path of main entrance. Above all, suitability of construction laws and regulations should be reviewed for safer and more amenable walking environment.

• 대한건축학회논문집:계획계
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• 제35권1호
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• pp.127-138
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• 2019

This study was to evaluate the walking speed of elderly people by using the travel route big data collected by travel diary and smart phone application. We analyzed the change of walking behavior in the residential street environments of the elderly whether they had a company or not. We interpreted the meaning based on previous studies. In addition, the characteristics of elderly people's use of the residential street environment were analyzed by comparing the change in spatial speed according to the companion. The result reveals that the usage patterns of the residential street environments change depending on whether they were accompanied or not. First, the elderly tend to do more social activities while walking alone than when they were accompanied. When they were accompanied the social activities occur in empty lot near the residential area. However, the social activities of the elderly occur in open space such as neighborhood park or playground while walking alone. Finally, This study has strength that it empirically analyzes the elderly's walking behavior and usage paths in small outdoor spaces, including residential streets.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• 로봇학회논문지
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• 제1권2호
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• pp.197-202
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• 2006

We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.