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전용권(Yonggwon Jeon),박윤식(Youn-sik Park),박영진(Youngjin Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Human motion is controlled by the neuromuscular system. But during swing phase, passive walking model can produce normal human gait. Bipedal walking might be largely understood as a passive mechanical process. A passive walker can walk down on a range of slopes with no actuation and no control because energy lost in friction and collisions is recovered from gravity. Gravity is the only energy source. But passive walker become unstable with increasing the angle of slope. Based on a simple passive walking model, modified the model and made stable gait cycle with increasing the range of slopes.
Stability analysis of limit cycle walking model with flat foot
Yonggwon Jeon(전용권),Youn-sik Park(박윤식),Youngjin Park(박영진) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
Biped robots based on limit cycle walking paradigm commonly need less energy than other bipeds and generate pretty natural gait. However, this paradigm is not much practical to apply real biped yet. To increase performance and to realize a practical biped, the model needs further studies on its stability, disturbance rejection capability, and versatility, the ability to perform various gaits, etc. We analyzed stability of the flat foot model. One is flat foot without heel and another is flat foot with heel. Flat foot model with heel have stable one?gait cycle on steeper slopes and also have larger basin of attraction than the model without heel.
전용권(Yonggwon Jeon),박흥근(Heungkeun Park),이상규(Sangkyoo Lee),안영동(Yeongdong An) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
Accuracy and calculation efficiency of vibration fatigue analysis in time domain are related to two major factors, the size of FE model and load data. If one can handle massive size of data easily, it can be the best case. However, handling a massive data is impractical and laborious in simulation environment. Thus, the size of FE model or load data must be reduced to reflect dynamic characteristics of massive size of data in the view of efficiency and suitability. This paper presents a new method of signal extraction technique, for ground vehicle (an excavator, a wheel loader, etc.), considering the statistical characteristics and fatigue damage equivalency. The extracted load data, with shorter time duration, satisfy statistical properties with respect to the original data.