• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.225-230
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• 2003

This paper proposes a desired trajectory and a control algorithm for a biped robot with curved soles. Firstly, we derived the desired trajectory from a model called the Moving Inverted Pendulum Mode (MIPM) of which a contact point of the foot is moving in the horizontal direction. A biped robot with curved soles is under-actuated system, because it has one contact point with the ground during the single supporting phase. Therefore, to solve the under-actuated problem, we changed control variables, used modified dynamic equations and used the computed torque control. The simulation results show that a biped robot with curved soles walks stably. Also, fast walking and natural motion of a biped robot can be implemented.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• Preventive Nutrition and Food Science
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• v.2 no.4
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• pp.310-315
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• 1997

Wild propionibacteria isolated from different commercial swiss cheese samples were tested for antimicrobial activities. In initial screening, six of these Propionibacterium isolates showed antagonistic activity against 10 selected indicator organisms by the deferred method. In next, only two Propionibacterium strains JW6 and JW14 showed antibacterial activity in the cell-free supernatants by the modified well diffusion method. Propionibacterium strains JW6 and JW14 were finally identified as bacteriocin producers which exhibited a bactericidal effect against closely related species. The antimicrobial substances were proteins, since their activities were completely destroyed following several degradative enzyme treatments. The bacteriocins showed a narrow inhibitory spectrum of activity against two propionibacteria and two bacilli of strains tested in this study.