• Title, Summary, Keyword: Locomotion

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A Design of Locomotion System of a Mobile Robot for the Blind Guidance (시각 장애자를 위한 이동 로봇의 주행 시스템 설계)

  • Kim, Byung-Soo;Chang, Won-Suk;Hong, Seung-Hong
    • Journal of Biomedical Engineering Research
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    • v.8 no.1
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    • pp.49-56
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    • 1987
  • This paper designed LOCOMOTION SYSTEM of a mobile robot for the blind guidance and LOCOMOTION COMMAND SYSTEM that gave the moving path to the locomotion system. This system analyzed COMMAND and calculated the speed and direction of the robot. And during locomotion it measured wheel's rotation number for the position and speed control. Also, this system was considered about the 110 interface with host computer and the locomotion method for the blind. In the locomotion experiment the standard speed of robot was 0.4m/sec and the locomotion error was below 5%

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Pattern Analyses for Semi-Looper Type Robots with Multiple Links

  • Watanabe, Keigo;Liu, Guang Lei;Izumi, Kiyotaka
    • 제어로봇시스템학회:학술대회논문집
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    • pp.963-968
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    • 2005
  • For worm robots applied to pipe inspection and colonoscopy, earthworm-like robots that have a locomotion pattern in backward wave or green caterpillar-like robots that have a locomotion pattern in forward wave have been studied widely. Note however that a method using a single and fixed locomotion pattern is not desirable in the sense of mobility cost, if there are various changes in pipe diameter. In this paper, locomotion patterns are considered for a semi-looper-like robot, which adopts a locomotion pattern of green caterpillars as the basic motion and sometimes can realize a locomotion pattern of looper, whose motion approximately consists of two rhythms or relatively low rhythm.

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A study on locomotion module of mobile robot for the blind guidance (맹인 안내용 mobile robot의 locomotion module에 관한 연구)

  • 김병수;신중섭;홍승홍
    • 제어로봇시스템학회:학술대회논문집
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    • pp.592-595
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    • 1986
  • This paper presents a mobile of robot (for the blind) commanded by written course route on MAP. Its locomotion module is composed of PWM motor driving unit, wheel's rotation measurement unit and display and keyboard unit. In algorithm, "COMMAND" and "NEXT PREDICTED POSITION" for locomotion are computed from the MAP and the next position is compared with the measured one. Also, locomotion method for the convenience of the blind is discussed and experimentally demonstrated. In the experiment, the average speed of robot is 0.4m/sec and the computation error of the map is negligible.

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Motion Planning for Legged Robots Using Locomotion Primitives in the 3D Workspace (3차원 작업공간에서 보행 프리미티브를 이용한 다리형 로봇의 운동 계획)

  • Kim, Yong-Tae;Kim, Han-Jung
    • The Journal of Korea Robotics Society
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    • v.2 no.3
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    • pp.275-281
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    • 2007
  • This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

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The Relationship between Saccades and Locomotion

  • Srivastava, Anshul;Ahmad, Omar F.;Pacia, Christopher Pham;Hallett, Mark;Lungu, Codrin
    • Journal of Movement Disorders
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    • v.11 no.3
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    • pp.93-106
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    • 2018
  • Human locomotion involves a complex interplay among multiple brain regions and depends on constant feedback from the visual system. We summarize here the current understanding of the relationship among fixations, saccades, and gait as observed in studies sampling eye movements during locomotion, through a review of the literature and a synthesis of the relevant knowledge on the topic. A significant overlap in locomotor and saccadic neural circuitry exists that may support this relationship. Several animal studies have identified potential integration nodes between these overlapping circuitries. Behavioral studies that explored the relationship of saccadic and gait-related impairments in normal conditions and in various disease states are also discussed. Eye movements and locomotion share many underlying neural circuits, and further studies can leverage this interplay for diagnostic and therapeutic purposes.

Hierarchical Fuzzy Motion Planning for Humanoid Robots Using Locomotion Primitives and a Global Navigation Path

  • Kim, Yong-Tae
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.10 no.3
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    • pp.203-209
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    • 2010
  • This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

Experimental Study on Motion Generation and Control of Quadruped Robot (4 족 견마형 로봇의 동작 생성 및 제어에 관한 실험적 연구)

  • Ko, Kwang-Jin;Yu, Seung-Nam;Lee, Hee-Don;Han, Chang-Soo
    • Proceedings of the KSME Conference
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    • pp.843-848
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    • 2007
  • Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.

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Locomotion Control of 4 Legged Robot Using HyperNEAT (HyperNEAT를 이용한 4족 보행 로봇의 이동 제어)

  • Jang, Jae-Young;Hyun, Soo-Hwan;Seo, Ki-Sung
    • Journal of Korean Institute of Intelligent Systems
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    • v.21 no.1
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    • pp.132-137
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    • 2011
  • The walking mobility with stability of 4 legged robots is the distinguished skills for many application areas. Planning gaits of efficient walking for quadruped robots is an important and challenging task. Especially, autonomous generation of locomotion is required to manage various robot models and environments. In this paper, we propose an adaptive locomotion control of 4 legged robot for irregular terrain using HyperNEAT. Generated locomotion is executed and analysed using ODE based Webots simulation for the 4 legged robot which is built by Bioloid.

Evolution of Human Locomotion: A Computer Simulation Study (인류 보행의 진화: 컴퓨터 시뮬레이션 연구)

  • 엄광문;하세카즈노리
    • Journal of the Korean Society for Precision Engineering
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    • v.21 no.5
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    • pp.188-202
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    • 2004
  • This research was designed to investigate biomechanical aspects of the evolution based on the hypothesis of dynamic cooperative interactions between the locomotion pattern and the body shape in the evolution of human bipedal walking The musculoskeletal model used in the computer simulation consisted of 12 rigid segments and 26 muscles. The nervous system was represented by 18 rhythmic pattern generators. The genetic algorithm was employed based on the natural selection theory to represent the evolutionary mechanism. Evolutionary strategy was assumed to minimize the cost function that is weighted sum of the energy consumption, the muscular fatigue and the load on the skeletal system. The simulation results showed that repeated manipulations of the genetic algorithm resulted in the change of body shape and locomotion pattern from those of chimpanzee to those of human. It was suggested that improving locomotive efficiency and the load on the musculoskeletal system are feasible factors driving the evolution of the human body shape and the bipedal locomotion pattern. The hypothetical evolution method employed in this study can be a new powerful tool for investigation of the evolution process.

Smart Phone Robot Made of Smart Soft Composite (SSC)

  • Wang, Wei;Rodrigue, Hugo;Lee, Jang-Yeob;Han, Min-Woo;Ahn, Sung-Hoon
    • Composites Research
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    • v.28 no.2
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    • pp.52-57
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    • 2015
  • Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.